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ECSE 4480/CSCI 4480 Roboics I (Fall 2008)


Course Outline

# Date
Topic
Reading
HW/Exam
1 8/27

Introduction


·  Chapter 1 of Craig
·  Chapter 1 of Angeles' book
·  
McKarrow Introduction 1, 2, 3  

HW #1 handout
2 8/28
· vectors and transformations
· rigid-body orientation
· representation in coordinate frames
· Euler-Rodrigues Formula

·  Chapter 2 of Craig
· 
 My notes on rigid body
kinematics

·  
Kahane notes 1

·  Wittenberg 1

 
3 9/3
representations of SO(3) and matrix exponential formula

·   Hughes rotation representation 1, 2 : orientation representation from a spacecraft dynamicist point of view.

 
4 9/4
Differential kinematics
   
5 9/8
Jacobian and singularities
 

HW #1 due
HW #2 handout

6 9/11
serial kinematic chain
·  Murray, Li, & Sastry, Ch. 3 1 2 3
·  Kahane notes 2


 
7 9/15
forward kinematics
Chapter 3 of Craig
·  Kahane notes 1
HW #2 due
HW #3 handout
8 9/18
Denavit-Hartenberg Parameterization
   
9 9/22
Inverse kinematics of open chain
Chapter 4 of Craig HW #3 due
HW #4 handout
10 9/25
geometric solution technique
   
11 9/29
Jacobian
Chapter 5 of Craig HW #4 due
HW #5 handout
12 10/1
differential kinematics, Jacobian
   
13 10/2
more on manipulator Jacobian
  HW #5 due
14 10/6
Kinematic control, redundant arm
   
15 10/8 midterm review    
16 10/9
Midterm (in class exam)
17 10/14
Singularities
 

HW #6 handout

18 10/16
Geometric characterization of singularities
   
19 10/20
Closed kinematic chain
  HW #6 due
HW #7 handout
20 10/27
Rigid body dynamics
·  Wittenberg
·  Meirovitch , Lagrangian notes
Chapter 6 of Craig
 
21 10/29
Multi-body Dynamics, Lagrange Euler formulation
   
22 10/30
Newton Euler Formulation
Chapters 9 and 10 of Craig HW #7 due
HW #8 handout
23 11/10
Constrained robots
Chapter 11 of Craig  
24 11/13
Forward and inverse kinematics of constrained robots
  HW #8 due
HW #9 handout
25 11/17
Dynamics of constrained robots, force control
   
26 11/24
Mobile robots
  HW #9 due
HW #10 handout
27 12/1
Control of mobile robots
Murray & Sastry, Steering with Sinusoids
Firetruck motion planning
Control Handbook chapter
 
28 12/4
Review

 

HW #10 due



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