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ECSE 4480/ECSE 6966/MANE 4960/CSCI 4480 Roboics I (Fall 2011)


Lectures and Supplements

Please see course page on the RPI LMS System

# Date
Lecture
Reading
  8/29

Class cancelled due to Hurricane Irene

 
  9/1

Prof. Wen will be out of town this day. Professor Jeff Trinkle will give a guest lecture.

 
1 9/7 Course Overview 
Introduction


Chapter 1 of Angeles
Chapter 1 of MLS
McKarrow Introduction
2 9/8

Points, Vectors, and Linear Transforms

* MLS 2.1
3 9/12 Coordinate transformation, Rigid Body Orientation  * MLS 2.2
* Angeles 2.3, 2.5
  9/14 MATLAB Tutorial http://www.math.ufl.edu/help/matlab-tutorial/
4 9/15 Differential rigid body kinematics

* MLS 2.4
* Angeles 3.4-3.5

5 9/19

Rigid body kinematics, homogeneous transformation

* MLS 2.1-2.4
6 9/22 Phantom Omni demo, review http://www.sensable.com/haptic-phantom-omni.htm
7 9/26 Representation of SO(3), serial articulated robot arms * MLS 3.1, 3.2
8 9/29 Forward Kinematics (Product of Exponential) * MLS 3.2
9 10/3 Forward Kinematics (Standard Denavit-Hartenberg) * Angeles 4.1-4.3
10 10/5 Forward Kinematics (Modified Denavit-Hartenberg) * Craig Ch. 3
11 10/6

Forward Kinematics (PUMA 560 example)
Introduction to Inverse Kinematics

* MLS 3.3
* Craig Ch. 4
* Angeles 4.4

12 10/11 Inverse Kinematics * MLS 3.3
* Craig Ch. 4
* Angeles 4.4
  10/13 class cancelled  
13 10/17 Review  
  10/19 Midterm (8-9:50)  
14 10/20 Inverse Kinematics * MLS 3.3
* Craig Ch. 4 (on LMS)
* Angeles 4.4
15 10/24 Jacobian * MLS 3.4
16 10/27 Jacobian * MLS 3.4
17 10/31 Singularities * MLS 3.4
18 11/3 Trajectory generation, motion planning, kinematic control * Craig Ch.7 (on LMS)
19 11/7 Rigid Body Dynamics * MLS 4.1-4.2
20 11/10 Robot dynamics

* MLS 4.3
* Angeles Ch.7

21 11/14 Robot dynamics * MLS 4.3
22 11/17 Robot dynamics
* MLS 4.3
23 11/21 Robot Control, Review
* MLS 4.5
24 11/28 Review for Midterm (Cihan)


11/30
Midterm (6-9) CII 3051

25 12/5 Robot Control, Constrained Robot

26 12/7 Review  

27

12/8 Review (Cihan)
 
  12/16 Final Exam 3-6pm  
  12/16 Project Due  

 

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