Lecture Schedule
| Date | Topic | Assigned Reading | Lecture Notes | Extras |
|---|---|---|---|---|
| 1.16 (Tu) | introduction Zoom link | Mod. Rob. Ch 2 | intro slides (requires login to microsoft360) slides | Suggested Material: Matrix Cookbook Linear Algebra Done Right Gilbert Strang Lectures |
| 1.18 (Th) | configuration space DoF zoom link | Mod. Rob. Ch 2 | slides | |
| 1.23 | nonholonomic constraints & rigid body motions | Mod. Rob. 3.1-3.2 | slides | |
| 1.25 | rigid body motions | Mod. Rob. 3.1-3.2 | ||
| 1.30 | exponential coordinates | Mod. Rob. 3.3-3.4 | slides | |
| 2.1 | homogeneous transformations | Mod. Rob. 3.3-3.4 | slides | |
| 2.6 | hom. transf. + screws & wrenches | slides | ||
| 2.8 | screw&wrenches. forward kinematic map | Mod. Rob. 4.1-4.2 | slides | |
| 2.13 | forward kinematic map dh parameters | slides | ||
| 2.15 | jacobian | Mod. Rob. 5.1-5.2 | slides | |
| 2.20 | jacobian and statics of open chains | slides | ||
| 2.22 | inverse kinematics I | Mod Rob Ch 6 | slides | |
| 2.27 | No Lecture | |||
| 2.29 | numerical inverse kinematics | slides | ||
| 3.5 | review session | |||
| 3.7 | exam 1 | |||
| 3.19 | kinematics of closed chains | slides | ||
| 3.21 | robot dynamics (Lagrangian) | slides | ||
| 3.26 | trajectory generation | slides | ||
| 3.28 | intro to robot control | slides | ||
| 4.2 | intro to robot control | |||
| 4.4 | no lecture – office hours. | |||
| 4.9 | robot control + intro to motion planning | ch 10 | slides | |
| 4.11 | intro to motion planning | |||