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ECSE 4480/CSCI 4480 Roboics I (Fall 2008)


Lecture Slides

# Date
Lecture
1 8/27

Course Overview
Introduction
Points, Vectors, and Linear Transforms
in-class
·  McKarrow Introduction 1, 2, 3  
·  Additional notes on rigid body kinematics

2 8/28

Coordinate transformation, Rigid Body Orientation
in-class
* Kahane notes 1, 2 : a set of unpublished notes from a series of Berkeley seminars, great discussion on geometric approach to solving inverse kinematics problems.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

3 9/3 Representation of SO(3)
in-class
4 9/4

in-class
Matrix exponential formula

5 9/8 Differential Kinematics
in-class
6 9/11 in-class
Serial articulated manipulator
·  Murray, Li, & Sastry, Ch. 3 1 2 3
7 9/15

in-class
Forward kinematics

8 9/18 Forward kinematics
in-class
9 9/22 Inverse Kinematics
in-class check out MATLAB code we did in class also (under MATLAB link)
10 9/25 Inverse Kinematics
in-class
11 9/29 Jacobian
in-class
12 10/1 Jacobian
in-class
13 10/2 Velocity Propagation in Open Chain, iterative computation of Jacobian
in-class
14 10/6 Redundant arm, Kinematics Based Control
in-class
15 10/8 review
in-class
16 10/9 Midterm
17 10/14 Singularities
in-class
18 10/16 Singulariities (geometric and algebraic characterizations)
in-class
19 10/20 Rigid body dynamics
in-class
Wittenberg: coordinate independent view of rigid body dynamics
20 10/27 Rigid body dynamics
in-class
Meirovitch (Ch.2): fundamental of analytical mechanics, Lagrangian notes
21 10/29 Rigid body dynamics
in-class
22 10/30 Newton Euler formulation
in-class
23 11/10 Constrained robots
in-class
24 11/13 Forward and inverse kinematics of parallel robots
in-class
25 11/17 Dynamics of constrained arm, multi-arm/multi-finger kinematics and dynamics, force conrol
in-class
26 11/24

Mobile robots
in-class
Murray & Sastry, Steering with Sinusoids
Firetruck motion planning
Control Handbook chapter

27 12/1 Mobile robots
in-class
28 12/4 Review
in-class


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