Date 
Topics 
Readings 
Due 
Notes 
21 Aug 
Introduction

chapter1 
 
 
Planar transformations and displacements 
23 Aug 
Coordinate Systems

chapter2: 2.1.42.1.5 
 
 
25 Aug 
Affine space, bases, dot products

2.1.12.1.3 
 
 
28 Aug 
Rotations

2.2 
 
 
30 Aug 
Coordinate and homogeneous transformations

2.3, 2.5 
 
 
1 Sep 
Operators

2.6 
HW01 
 
4 Sep 
Labor Day

 
 
 
6 Sep 
Polynomial trajectories

chapter6: 6.1 
 
 
8 Sep 
LSPB trajectories, Taylor trajectories

6.26.3 
Lab1 
 
Spatial transformations and displacements 
11 Sep 
3D vectors, rotations

chapter3: 3.13.2.4 
 
 
13 Sep 
Composition of rotations, transformations

3.2.43.4 
HW02 
 
15 Sep 
Angleaxis, interpolating 3D rotations

3.5.13.5.2, 6.4 
 
 
18 Sep 
Euler parameters, quaternions (grad lecture)

3.93.10 
 
 
Forward kinematics for position 
20 Sep 
Types of robots, basic DH parameters

chapter4: 4.14.3.1 
 
 
22 Sep 
DH special cases, end and base links

4.3.24.3.5 
HW03 
 
25 Sep 
Exam 1 review (Chapters 2, 3, 6)

 
 
 
27 Sep 
Exam 1

 
 
 
29 Sep 
DH parameters to manipulators

4.4 
 
 
2 Oct 
Manipulators to DH parameters; forward kinematics

4.54.6 
Lab2 
 
4 Oct 
Craig and Hayati parameters

4.54.6 
 
 
Inverse kinematics for position 
6 Oct 
Twolink manipulators

chapter5: 5.15.2.1 
HW04 
 
9 Oct 
Fall break

 
 
 
16 Oct 
Spatial arms

5.2.2 
 
 
18 Oct 
Euler angles

3.68 
 
 
20 Oct 
No class

 
 
 
23 Oct 
Wrist solution, 6DOF manipulator

5.35.4 
Lab3 
 
Velocity and acceleration 
25 Oct 
Angular velocity vector

chapter7: 7.17.2.2 
HW05 
 
27 Oct 
Euler angle rates, spatial motion of objects

7.2.37.3 
 
 
Velocity kinematics 
30 Oct 
Velocity kinematics

chapter8: 8.1 
 
 
1 Nov 
Velocity Jacobians, manipulator accelerations

8.2 
HW06 
 
3 Nov 
Inverse kinematic velocities

8.5 
 
 
6 Nov 
Inverse kinematic accelerations

8.4, 8.6 
 
 
Statics 
8 Nov 
Force and torque balance, center of mass

chapter9: 9.19.3 
HW07 
 
10 Nov 
1D and 2D manipulator force and torque

9.49.5 
 
 
13 Nov 
3D manipulator force and torque

9.69.7 
 
 
15 Nov 
Exam 2 review (Chapters 45, 78)

 
 
 
17 Nov 
Exam 2

 
 
 
20 Nov 
Screw theory (grad lecture)

8.7, 9.8 
HW08 
 
22 Nov 
No class


 
 
24 Nov 
Thanksgiving break

 
 
 
Dynamics 
27 Nov 
Momentum, inertia matrix

chapter10: 10.110.2 
 
 
29 Nov 
NewtonEuler equations

10.2.210.3 
HW09 
 
1 Dec 
Planar manipulator dynamics

10.410.5 
 
 
4 Dec 
Recursive NewtonEuler equations

10.410.5 
 
 
6 Dec 
Final exam review

 
HW10 (8 Dec) 
 
11 Dec 
Final exam (13pm)

 
 
 