Instructor: Prof. John T. Wen, CII 8011, x6156 wenj at rpi . edu
Office Hour: T 910 / Th 23 (or by appointment)
Class Hours: M/W/Th 8:309:50 (Class normally meets on M/Th, Wednesday session is used as a makeup session)
Class Room: Troy 2018
Teaching Assistant: Michelle Bezdecny, F 11:301:30, JEC 6027
Administrative Assistant: Jeanette Young, CII 8011, x8744 youngj4 at rpi . edu
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Date 
Lecture 

8/27 

8/28 
Coordinate transformation, Rigid Body Orientation
inclass
* Kahane notes 1, 2 : a set of unpublished notes from a series of Berkeley seminars, great discussion on geometric approach to solving inverse kinematics problems.
* Wittenberg: coordinate independent view of rigid body kinematics (physicist perspective)
*
Hughes rotation representation 1, 2 : orientation representation from a spacecraft dynamicist point of view.
Quaternion related stuffs:
 Short tutorial on quaternion http://mathworld.wolfram.com/Quaternion.html
 Quaternion in robotics
* Biography of Leonard Euler 
9/3 
Representation of SO(3)
inclass 
9/4 
inclass
Matrix exponential formula 
9/8 
Differential Kinematics
inclass 
9/11 
inclass
Serial articulated manipulator
· Murray, Li, & Sastry, Ch. 3 1 2 3 
9/15 
inclass
Forward kinematics 
9/18 
Forward kinematics
inclass 
9/22 
Inverse Kinematics
inclass check out MATLAB code we did in class also (under MATLAB link) 
9/25 
Inverse Kinematics
inclass 
9/29 
Jacobian
inclass 
10/1 
Jacobian
inclass 
10/2 
Velocity Propagation in Open Chain, iterative computation of Jacobian
inclass 
10/6 
Redundant arm, Kinematics Based Control
inclass 
10/8 
review
inclass 
10/9 
Midterm 
10/14 
Singularities
inclass 
10/16 
Singulariities (geometric and algebraic characterizations)
inclass 
10/20 
Rigid body dynamics
inclass
Wittenberg: coordinate independent view of rigid body dynamics 
10/27 
Rigid body dynamics
inclass
Meirovitch (Ch.2): fundamental of analytical mechanics, Lagrangian notes 
10/29 
Rigid body dynamics
inclass 
10/30 
Newton Euler formulation
inclass 
11/10 
Constrained robots
inclass 
11/13 
Forward and inverse kinematics of parallel robots
inclass 
11/17 
Dynamics of constrained arm, multiarm/multifinger kinematics and dynamics, force conrol
inclass 
11/24 
Mobile robots
inclass
Murray & Sastry, Steering with Sinusoids
Firetruck motion planning
Control Handbook chapter

12/1 
Mobile robots
inclass 
12/4 
Review
inclass 



