Date Topics Readings Due Notes
19 Aug Introduction chapter1 - -
Planar transformations and displacements
21 Aug Coordinate systems chapter2: 2.1 - -
23 Aug Dot products 2.1 - -
26 Aug Rotation matrices 2.2 Lab1 -
28 Aug Coordinate and homogeneous transformations 2.3, 2.5 - -
30 Aug Operators 2.6 HW01 -
2 Sep Labor Day - - -
Trajectory planning
4 Sep Polynomial trajectories, spliced polynomials chapter6: 6.1 - -
6 Sep LSPB trajectories, Taylor trajectories 6.2-6.3 - -
Spatial transformations and displacements
9 Sep 3D vectors, rotations, transformations chapter3: 3.1-3.2.4 - -
11 Sep Angle-axis rotations 3.5.1-3.5.2, 6.4 HW02 -
13 Sep Inverse angle-axis. Interpolating 3D orientation. Euler parameters. 3.9-3.10 - -
16 Sep Rodrigues equation, matrix exponential 3.11-3.12 Lab2 -
Forward kinematics for position
18 Sep Types of robots, basic DH parameters chapter4: 4.1-4.3.1 HW03 -
20 Sep Exam 1 review (Chapters 2, 3, 6) - - -
23 Sep Exam 1 - - -
25 Sep DH special cases, end and base links 4.3.2-4.3.5 - -
27 Sep DH parameters to manipulators 4.4 - -
30 Sep Manipulators to DH parameters; forward kinematics 4.5-4.6 Lab3 -
2 Oct Craig and Hayati parameters 4.5-4.6 - -
4 Oct Slack class - - -
7 Oct Fall break - - -
Inverse kinematics for position
14 Oct Two-link manipulators chapter5: 5.1-5.2.1 HW04 -
16 Oct Spatial arms 5.2.2 - -
18 Oct Euler angles 3.6-8 - -
21 Oct Wrist solution, 6-DOF manipulator 5.3-5.4 HW05 -
Velocity and acceleration
23 Oct Angular velocity vector chapter7: 7.1-7.2.2 - -
25 Oct Euler angle rates, spatial motion of objects 7.2.3-7.3 - -
Velocity kinematics
28 Oct Velocity kinematics chapter8: 8.1 HW06 -
30 Oct Exam 2 review (Chapters 4-5) - - -
1 Nov Exam 2 - - -
4 Nov Velocity Jacobians, manipulator accelerations 8.2 - -
6 Nov Inverse kinematic velocities 8.5 Lab4 -
8 Nov Inverse kinematic accelerations 8.4, 8.6 - -
Statics
11 Nov Force and torque balance, center of mass chapter9: 9.1-9.3 HW07 -
13 Nov 1D and 2D manipulator force and torque 9.4-9.5 - -
15 Nov 3D manipulator force and torque 9.6-9.7 - -
18 Nov Screw theory 8.7, 9.8 HW08 -
Dynamics
20 Nov Momentum, inertia matrix chapter10: 10.1-10.2 -
22 Nov Newton-Euler equations 10.2.2-10.3 - -
25 Nov Planar manipulator dynamics 10.4-10.5 HW09 -
27 Nov No class - -
29 Nov Thanksgiving break - - -
2 Dec Recursive Newton-Euler equations 10.4-10.5 - -
4 Dec Final exam review - HW10 -
11 Dec Final exam (1-3pm) - - -