Welcome to the CATS!

spacerspacer
navigation icon Info

navigation icon Outline

navigation icon Lectures

navigation icon Homework

navigation icon MATLAB Examples

navigation icon Exams and Projects

navigation icon Course Home

nystar logo

Rensselaer logo


ECSE 4480/CSCI 4480 Roboics I (Fall 2010)


Lectures and Supplements

Please see course page on the RPI LMS System https://rpilms.rpi.edu/webct/logon/138744528001

# Date
Lecture
1 8/30

Course Overview
Introduction
Points, Vectors, and Linear Transforms
McKarrow Introduction
Additional notes on rigid body kinematics

2 9/2

Coordinate transformation, Rigid Body Orientation
* Kahane notes : a set of unpublished notes from a series of Berkeley seminars, great discussion on geometric approach to solving inverse kinematics problems.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: orientation representation from a spacecraft dynamicist point of view.
Quaternion related stuffs:
-- Short tutorial on quaternion http://mathworld.wolfram.com/Quaternion.html 
* Biography of Leonard Euler

3 9/9 Differential rigid body kinematics
4 9/13

Representation of SO(3), metrics on SO(3)

5 9/16 Serial articulated manipulator, forward kinematics
6 9/20 Serial articulated manipulator, Forward kinematics
·  Murray, Li, & Sastry, Ch. 3
7 9/22

(Wed make-up class)
Inverse kinematics

8 9/23 Inverse Kinematics
9 9/27 Jacobian
10 9/30 Jacobian
11 10/4 Velocity Propagation in Open Chain, iterative computation of Jacobian
12 10/7 Redunant arm, kinematics based control
13 10/12 (Monday Schedule)
Singularities
14 10/14 Singularities
  10/18 class cancelled
  10/21 class cancelled
15 10/25 review
  10/27 Midterm
16 10/28 Closed kinematic chain, parallel robots
17 11/1 Parallel robot kinematics
18 11/3 (Wed make-up class)
Parallel robot kinematics
19 11/4 Parallel robot singularities, grasping
20 11/8 Rigid body dynamics
Wittenberg: coordinate independent view of rigid body dynamics
21 11/11 Rigid body dynamics
Meirovitch (Ch.2): fundamental of analytical mechanics, Lagrangian notes
22 11/15 Rigid body dynamics
23 11/18 Newton Euler formulation
24 11/22 Constrained robots
25 11/29 Dynamics of constrained arm, multi-arm/multi-finger dynamics, force conrol
26 12/2

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

27 12/6 Mobile robots
28 12/9 Review

 

Back to top