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ECSE 4480/ECSE 6966/MANE 4960/CSCI 4480 Roboics I (Fall 2012)


Lectures and Supplements

Please see course page on the RPI LMS System

# Date
Lecture
Reading
1 8/27 Course Overview
Introduction

Planar open chain articulated arm
Chapter 1 of Angeles
Chapter 1 of MLS
McKarrow Introduction
2 8/30

Forward kinematics of planar arm

* MLS 2.1
3 9/6 Inverse Kinematics of planar arm, different kinematics  * MLS 2.2
* Angeles 2.3, 2.5
4 9/10 Rigid body kinematics, homogeneous transformation (last day to add)

* MLS 2.4
* Angeles 3.4-3.5

5 9/13

Rotation operator angular velocity and accelartion

* MLS 2.1-2.4
6 9/17 Represetntation of rotation group, metrics on rotation group  
7 9/20 Forward Kinematics (Product of Exponential) * MLS 3.1, 3.2
8 9/24 Forward Kinematics (Standard Denavit-Hartenberg) * MLS 3.2
9 9/27 Forward Kinematics (Modified Denavit-Hartenberg) * Angeles 4.1-4.3
10 10/1 Forward Kinematics (PUMA 560 example)
Introduction to Inverse Kinematics
* Craig Ch. 3
11 10/4

Inverse Kinematics

* MLS 3.3
* Craig Ch. 4
* Angeles 4.4

12 10/9 Differential kinematics, Jacobian * MLS 3.3
* Craig Ch. 4
* Angeles 4.4
13 10/11 Midterm  
14 10/15 Singularities * MLS 3.3
* Craig Ch. 4 (on LMS)
* Angeles 4.4
15 10/18 Singularities (10/19: last day to drop) * MLS 3.4
16 10/22 Kinematics based control * MLS 3.4
17 10/25 Trajectory generation, motion planningkinematic control * MLS 3.4
18 10/29 Rigid Body Dynamics: planar case * Craig Ch.7 (on LMS)
19 11/1 Rigid Body Dynamics: general case * MLS 4.1-4.2
20 11/5 Multibody Dynamics: Lagrange-Euler Approach

* MLS 4.3
* Angeles Ch.7

21 11/8 Multibody Dynamics: Newton-Euler Approach * MLS 4.3
22 11/12 Dynamics based Control
* MLS 4.3
23 11/15 Closed kinematics chain and force of interaction
* MLS 4.5
24 11/19 Force control

25 11/26 Parallel Mechanism kinematics

26 11/29 Parallel Mechanism Jacobian and kinematics based control  

27

12/3 Mobile robot kinematics
 
28 12/6 Mobile robot control  
  12/17 Project Due  

 

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