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ECSE 4480/CSCI 4480 Roboics I (Fall 2010)


Course Outline

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

# Date
Topic
Reading
1 8/30

Introduction

·  Chapter 1 of Angeles
·  Chapter 1 of MLS
·  Chapter 1 of Craig
·  
McKarrow Introduction

2 9/2
· vectors and transformations
· rigid-body orientation
· representation in coordinate frames
· Euler-Rodrigues Formula


·  Angeles: 2.1-2.3
·  MLS: 2.1-2.3
·  Chapter 2 of Craig
·  My notes on rigid body kinematics

·  
Kahane notes

·  Wittenberg

3 9/9 Forward kinematics of open kinematic chain with revolute or primatic joints

·  Angeles: 4.1-4.2
·  MLS: 3.1-3.2
·  Kahane notes

4 9/13 Denavit-Hartenberg convention vs. Product of exponential convention
·  Angeles: 4.1-4.2
·  MLS: 2.4
5 9/16 Differential kinematics of rigid body (Angular velocity and twist) ·  Angeles: 2.3
·  MLS: 2.2.3
6 9/20 Representations of Orientation, metrics on SO(3) and SE(3) ·  Angeles: 4.1-4.2
·  MLS: 2.4
7 9/22 Differential kinematics of rigid body under different representations, singularities, kinematics-based control ·  Angeles: 3.3-3.5
·  MLS: 2.4
8 9/23 Differntial kinematics of articulated robot (open kinematic chain): Jacobian. ·  Angeles: 4.5
·  MLS: 3.4
9 9/27 Choice of reference point and representation frame. ·  Angeles: 4.5
·  MLS: 3.4
10 9/30 Iterative compuation of Jacobian. ·  Angeles: 4.5
·  MLS: 3.4
11 10/4 Kinematic control and singularities ·  Angeles: 4.5.2
·  MLS: 3.4
12 10/7 Inverse kinematics ·  Angeles: 4.4
·  MLS: 3.3
13 10/12 Inverse kinematics using subproblem decomposition ·  Angeles: 4.4, 8.1, 8.2
·  MLS: 3.3
14 10/14 Trajectory planning. Robot arm example: Omni, PUMA 560 ·  Angeles: Chap. 5
  10/18    
  10/21    
15 10/25 Review  
  10/27 Mid-term Exam (8:30-11)  
16 10/28 Rigid body dynamics  
17 11/1 Open chain dynamics: Lagrange-Euler approach  
18 11/3 Open chain dynamics: Newton-Euler approach  
19 11/4 Dyanmics example and feedback control  
20 11/8 Parallel kinematics: forward and inverse kinematics  
21 11/11 Parallel kinematics: Jacobian and singularities  
22 11/15 Parallel kinemaitcs examples  
23 11/18 multi-finger grasp  
24 11/22 multi-arm cooperation  
25 11/29 Force control  
26 12/2 Nonholonomic constraint and mobile robot  
27 12/6 mobile robot example  
28 12/9 Review  

 

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