Date	Topics	Readings	Due	Notes
9 Jan	Introduction	chapter1	-	-
Least squares parameter estimation
11 Jan	Ordinary least squares	chapter2: 2.1-2.2	-	-
16 Jan	Introduction to Latex		-	-
18 Jan	Nonlinear least squares	2.3	-	-
Kinematic Calibration
23 Jan	Review of Denavit-Hartenberg parameters	chapter3: 3.1	HW01	-
25 Jan	Screw Axis Measurement: Circle point analysis	chapter4: 4.1	-	-
30 Mar	Jacobian measurement method	4.2	-	-
1 Feb	Open-Loop Kinematic Calibration	chapter5: 5.1	HW02 (due 2 Feb)	-
6 Feb	Simulation example	5.2	-	-
8 Feb	Partial pose measurements	5.3-5.4	-	-
Observability
13 Feb	Singular value decomposition	chapter7: 7.1	Project 1	-
15 Feb	Pose selection	7.2	-	-
20 Feb	No class		-	-
Identifiability
22 Feb	Handling poorly identifiable parameters	chapter8: 8.1	HW03	-
27 Feb	Scaling, covariance of estimates	8.2, chapter11: 11.1-11.3.1	-	-
1 Mar	No class	-	-	-
Closed-loop kinematic calibration
6 Mar	Spatial serial-link manipulators	chapter6: 6.1-6.2	HW04	-
8 Mar	Unification of open and closed-loop methods	6.3-6.4, 3.2-3.5	-	-
Load inertial parameter estimation
13 Mar	Manipulator load estimation	chapter9: 9.1	-	-
15 Mar	Identifiability	9.2	Project 2	-
20 Mar	Spring break	-	-	-
Link inertial parameter estimation
27 Mar	Link inertial parameter estimation	chapter10: 10.1-2	-	-
29 Mar	Time-scaled trajectories, total least squares	10.3, 11.4	-	-
Generalizations of ordinary least squares
3 Apr	Recursive least squares, outliers	chapter11: 11.3	-	-
5 Apr	Project 3 data collection		-	-
10 Apr	Differentiation, force and torque sensing	chapter12: 12.1-12.2	-	-
12 Apr	Gear friction	-	-	-
17 Apr	Project 4 data collection	-	Project 3	-
19 Apr	No class	-	-	-
24 Apr	No class	-	-	-
1 May	No Final Exam	-	Project 4	-