| Date | Topic | Assigned Reading | Lecture Notes | Extra Material |
| Tuesday 1/21 | intro + review ONLINE: https://illinois.zoom.us/j/89241613037?pwd=4cub8vaMlqOGim632Cug4qDZJEEnY2.1 Meeting ID: 892 4161 3037 Password: 196076 | slides | Suggested Material: Matrix Cookbook Linear Algebra Done Right Gilbert Strang Lectures Spring 2023 Lectures: Linear Algebra Diff Eq | |
| Thursday 1/23 | Mechanisms, joints and DOFs ONLINE https://illinois.zoom.us/j/85701937960?pwd=rySNLoUZmVOYpsRYodZlfDcwHCOAK6.1 Meeting ID: 857 0193 7960 Password: 601098 | Mod. Rob. Ch 2 | slides | |
| Tuesday 1/28 | Holonomic/Non-holonomic constraints Frame and rigid body motions | Mod Rob Ch 3 | slides | |
| Thursday 1/30 | Frames and rigid body motions | Mod Rob Ch 3 | slides | |
| Tuesday 2/4 | Exponential coordinates | slides | ||
| Thursday 2/6 | Twists | Mod Rob Sec 3.3 | slides | |
| Tuesday 2/11 | Twists and Screws | slides | Video by Ben Walt: Spatial Screws for Mechanisms | |
| Thursday 2/13 | Forward Kinematics Map | Mod Rob Ch 4 | slides | Video by former TA Ben Walt: Spatial Forward Kinematics |
| Tuesday 2/18 | Forward Kinematics Map and Jacobians | Mod Rob Ch 5 | slides | |
| Thursday 2/20 | Jacobians | Mod Rob Ch 5 | slides | Note of Jacobian |
| Tuesday 2/25 | Inverse Kinematics I | Mod Rob Ch 6.1 | slides | |
| Thursday 2/27 | Exam I | Make reservations in CBFT | ||
| Tuesday 3/4 | Inverse Kinematics II | Mod Rob Ch 6.2 | slides | |
| Thursday 3/6 | Trajectory generation | Mod Rob Ch 9 | slides | |
| Tuesday 3/11 | Motion planning I | Mod Rob Ch 10 | slides | |
| Thursday 3/13 | Motion planning II | slides | ||
| Tue 3/24 | Kinematics of Closed chains | Mod Rob Ch 7 | slides | |
| Thu 3/26 | Exam II | annotated slides | ||
| Tue 4/1 | Intro to Robot Dynamics | Mod Rob Ch 8 | slides | |
| Thu 4/3 | Intro to Robot Control | slides | ||
| Tue 4/8 | Intro to Robot Control | |||
| Thu 4/10 | No lecture | |||
| Tue 4/15 | Intro to Robot Control | slides | ||
| Thu 4/17 | Bayesian filtering | slides annotatedslides |