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