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| Date | Topic | Assigned Reading | Lecture Notes | Extra Material |
| Tuesday 8/26 | intro + review | slides | Suggested Material: Matrix Cookbook Linear Algebra Done Right Gilbert Strang Lectures Spring 2023 Lectures: Linear Algebra Diff Eq | |
| Thursday 8/28 | Mechanisms, joints and DOFs ONLINE | Mod. Rob. Ch 2 | slides | |
| Tuesday 9/2 | No Lecture | |||
| Thursday 9/4 | Holonomic/Non-holonomic constrains Rigid Body Motions | Mod. Rob. Ch 3 | slides | |
| Tue 9/9 | Rigid Body Motions and exponential coordinates | Mod Rob Ch 3.1-3.3 | slides(Ann) | |
| Thu 9/11 | Exponential coordinates | ” | slides | |
| Tue 9/16 | Twists, Screws and Homogeneous transformations | Mod Rob Ch 3.3 | slides | |
| Thu 9/18 | Twists, Screws and Homogeneous transformations | slides (Ann) | ||
| Tue 9/23 | Screws and Forward Kinematics | slides | ||
| Thu 9/25 | Screws and Forward Kinematics | slides slides slides(ann) | ||
| Tue 9/30 | Forward Kinematics | slides(ann) | ||
| Tue 10/7 | Forward Kinematics, DH formalism | slides (annotated) | ||
| Thu 10/9 | Velocity kinematics. Jacobian. | slides (annotated) | ||
| Tue 10/14 | Velocity Kinematics. Space and Body Jacobians. | slides (annotated) python code to compute space Jacobians | ||
| Thu 10/16 | Singularity and Manipulability. Inverse Kinematics | slides (annotated) | ||
| Tue 10/21 | Inverse Kinematics | slides (annotated) | ||
| Thu 10/23 | Kinematics of Closed Chains | slides (annotated) | ||
| Tue 10/28 | Statics and Kinematics of Closed Chains | slides (annotated) | ||
| Thu 10/30 | Statics and Kinematics of Closed Chains. Dynamics | slides (annotated) | ||
| Tue 11/4 | Dynamics | slides (annotated) | ||
| Thu 11/6 | Trajectory Generation | slides (annotated) | ||
| Tue 11/11 | Motion Planning | |||
| Thu 11/13 | Project Day | project outline | ||
| Tue 11/18 | Motion planning I | slides | ||
| Motion planning II | slides(annotated) |