| Date |
Topics |
Readings |
Due |
Notes |
| 19 Aug |
|
chapter1 |
- |
- |
|
Planar transformations and displacements |
| 21 Aug |
Coordinate systems
|
chapter2: 2.1 |
- |
- |
| 23 Aug |
Dot products
|
2.1 |
- |
- |
| 26 Aug |
Rotation matrices
|
2.2 |
|
- |
| 28 Aug |
Coordinate and homogeneous transformations
|
2.3, 2.5 |
- |
- |
| 30 Aug |
Operators
|
2.6 |
HW01 |
- |
| 2 Sep |
Labor Day
|
- |
- |
- |
|
Trajectory planning |
| 4 Sep |
Polynomial trajectories, spliced polynomials
|
chapter6: 6.1 |
- |
- |
| 6 Sep |
LSPB trajectories, Taylor trajectories
|
6.2-6.3 |
- |
- |
| Spatial transformations and displacements |
| 9 Sep |
3D vectors, rotations, transformations
|
chapter3: 3.1-3.2.4 |
- |
- |
| 11 Sep |
Angle-axis rotations
|
3.5.1-3.5.2, 6.4 |
HW02 |
- |
| 13 Sep |
Inverse angle-axis. Interpolating 3D orientation.
Euler parameters.
|
3.9-3.10 |
- |
- |
|
Forward kinematics for position |
| 16 Sep |
Types of robots, basic DH parameters
|
chapter4: 4.1-4.3.1 |
- |
- |
| 18 Sep |
DH special cases, end and base links
|
4.3.2-4.3.5 |
HW03 |
- |
| 20 Sep |
Exam 1 review (Chapters 2, 3, 6)
|
- |
- |
- |
| 23 Sep |
Exam 1
|
- |
- |
- |
| 25 Sep |
DH parameters to manipulators
|
4.4 |
- |
- |
| 27 Sep |
Manipulators to DH parameters; forward kinematics
|
4.5-4.6 |
- |
- |
| 30 Sep |
Craig and Hayati parameters
|
4.5-4.6 |
- |
- |
|
Inverse kinematics for position |
| 2 Oct |
Two-link manipulators
|
chapter5: 5.1-5.2.1 |
- |
- |
| 4 Oct |
No class
|
- |
Lab1 |
- |
| 7 Oct |
Fall break
|
- |
- |
- |
| 14 Oct |
Spatial arms
|
5.2.2 |
|
- |
| 16 Oct |
Euler angles
|
3.6-8 |
HW04 |
- |
| 18 Oct |
Wrist solution, 6-DOF manipulator
|
5.3-5.4 |
- |
- |
|
Velocity and acceleration |
| 21 Oct |
Angular velocity vector
|
chapter7: 7.1-7.2.2 |
- |
- |
| 23 Oct |
Euler angle rates, spatial motion of objects
|
7.2.3-7.3 |
HW05 |
- |
|
Velocity kinematics |
| 25 Oct |
Velocity kinematics
|
chapter8: 8.1 |
- |
- |
| 28 Oct |
Velocity Jacobian
|
8.2 |
- |
- |
| 30 Oct |
Inverse kinematic velocities
|
8.5 |
- |
- |
| 1 Nov |
Exam 2 review (Chapters 4-5)
|
- |
HW06 |
- |
| 4 Nov |
Exam 2
|
- |
- |
- |
| 6 Nov |
Inverse kinematic accelerations
|
8.4, 8.6 |
- |
- |
|
Statics |
| 8 Nov |
Force and torque balance, center of mass
|
chapter9: 9.1-9.3 |
Lab2 |
- |
| 11 Nov |
Gravity loads, force and torque of constraint
|
9.4-9.5 |
HW07 |
- |
| 13 Nov |
1D force/torque balance, joints 2 and 3 of 3R arm
|
9.4-9.5 |
- |
- |
| 15 Nov |
3D manipulator force and torque
|
9.6-9.7 |
- |
- |
| 18 Nov |
Exam 3 review (Chapters 8, 9)
|
- |
HW08 |
- |
|
Dynamics |
| 20 Nov |
Momentum, inertia matrix
|
chapter10: 10.1-10.2 |
- |
- |
| 22 Nov |
Exam 3
|
- |
- |
- |
| 25 Nov |
Newton-Euler equations
|
10.2.2-10.3 |
- |
- |
| 27 Nov |
No class
|
|
|
- |
| 29 Nov |
Thanksgiving break
|
- |
- |
- |
| 2 Dec |
Recursive Newton-Euler equations, planar manipulator dynamics
|
10.4-10.5 |
Lab3 |
- |
| 4 Dec |
Final exam review
|
- |
HW09 (6 Dec) |
- |
| 11 Dec |
Final exam (1-3pm)
|
- |
- |
- |