Lecture Schedule
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| Date | Topic | Assigned Reading | Lecture Notes | Extras |
|---|---|---|---|---|
| 8.24 (Tu) | introduction + linear algebra review (Lecturer: Prof. DC, in-person) |
slides notes |
Suggested Material: Matrix Cookbook Linear Algebra Done Right Gilbert Strang Lectures |
|
| 8.26 (Th) | motion models and differential equations review (Lecturer: Prof. DC, in-person) |
slides notes |
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| 8.31 (Tu) | DoF + configuration space (Lecturer: Prof. DC, in-person) |
Mod. Rob. Ch 2 | slides | |
| 9.02 (Th) | rigid body motion (Lecturer: Prof. DC, in-person) |
Mod. Rob. Ch 3.1-3.2 | slides | Fun Video: Visualizing Quaternions |
| 9.07 (Tu) | rigid body motion + transformations (Lecturer: Prof. DC, in-person) |
Mod. Rob. Ch 3.3-3.4 | slides | |
| 9.09 (Th) | screw motions (Lecturer: Prof. DC, in-person) |
Mod. Rob. Ch 3.3-3.4 | slides | Video by former TA Ben Walt: Spatial Screws for Mechanisms |
| 9.14 (Tu) | screw motions, exponential coordinates and and wrenches (Lecturer: Prof. Belabbas, zoom & simulcast) |
Mod. Rob. Ch 3.3-3.4 | slides | |
| 9.16 (Th) | Forward Kinematic Map — Product of Exponentials (PoE) (Lecturer: Prof. Belabbas, zoom & simulcast) |
Mod. Rob. Ch 4.1-4.2 | slides |
Prev slides with PL examples |
| 9.21 (Tu) | RoboDesign Lab and more! (Guest Lecturer: Prof. Ramos, in-person) |
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| 9.23 (Th) | Forward Kinematics map in body frame + Denavit-Hartenberg (Lecturer: Prof. Belabbas, zoom & simulcast) |
Mod. Rob. Ch 4.1-4.2 + Appendix C |
slides | |
| 9.28 (Tu) | Velocity Kinematics (Lecturer: Prof. Belabbas, zoom & simulcast) |
Mod. Rob. Ch 5.1-5.2 | slides notes |
Video by TA Ben Walt: Spatial Jacobian |
| 9.30 (Th) | URDF and Robot Models in Simulation (Lecturer: Tianchen Ji, in-person) Velocity Kinematics (Lecturer: Prof. Belabbas, zoom & simulcast) |
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| 10.05 (Tu) | Review Session (Lecturer: Yuhang Ren, in-person) |
Exam 1 Info sheet | ||
| 10.07 (Th) | EXAM 1 | |||
| 10.12 (Tu) | Velocity Kinematics and Inverse Kinematcs 0 (Lecturer: Prof. Belabbas, zoom & simulcast) |
Mod. Rob. Ch 6.1 | slides | |
| 10.14 (Th) | Inverse Kinematics I (Lecturer: Prof. DC, in-person) |
Mod. Rob. Ch 6.1 | slides | |
| 10.19 (Tu) | Inverse Kinematics II (Lecturer: Prof. DC, in-person) |
slides | ||
| 10.21 (Th) | Project Day! (free day + TAs in-person) |
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| 10.26 (Tu) | Statics and Kinematics of Closed Chains (Lecturer: Prof. Belabbas, zoom & simulcast) |
Mod. Rob. Ch. 5.2, 7.1, 7.2 | slides ann. slides |
|
| 10.28 (Th) | Introduction to Dynamics (Lecturer: Prof. Belabbas, zoom & simulcast) |
slides | ||
| 11.02 (Tu) | Introduction to Robot Control (Lecturer: Prof. Belabbas, zoom & simulcast) |
Mod. Rob. Ch. 11.1->11.4 | slides ann. slides |
|
| 11.04 (Th) |
trajectory generation (Lecturer: Prof. DC, in-person) |
Mod. Rob. Ch 9 | slides | |
| 11.09 (Tu) |
motion planning I (Lecturer: Prof. DC, in-person) |
Mod. Rob. Ch 10.1-10.2 | slides | |
| 11.11 (Th) |
motion planning II (Lecturer: Prof. DC, in-person) |
Mod. Rob. Ch 10.3-10.5 | slides | |
| 11.16 (Tu) |
Intelligent Control for Interactive Autonomy! (Guest Lecturer: Prof. Mehr, in-person) |
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| 11.18 (Th) |
Review Session (Lecturer: Yuhang Ren, in-person) |
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| 11.23 (Tu) |
FALL BREAK | |||
| 11.25 (Th) |
FALL BREAK | |||
| 11.30 (Tu) |
in-class presentations | |||
| 12.02 (Th) |
in-class presentations | |||
| 12.07 (Tu) |
Exam 2 | |||
| 12.09 (Th) |
FINALS |
Topics (roughly in order):
Linear algebra and differential equation reviewDegrees of freedom, configuration spaceRigid body motion, transformations, screw theoryForward KinematicsVelocity KinematicsInverse KinematicsDynamicsRobot ControlMotion Planning