Welcome to the CATS!

spacerspacer
navigation icon Info

navigation icon Outline

Rensselaer logo


ECSE 4480/6966 MANE 4960/6963 CSCI 4480 ISYE 4960 Roboics I (Fall 2013)


Lectures and Supplements

Please see course page on the RPI LMS System

# Date
Lecture
1 8/26 Course Overview
Introduction


2 8/29

Vectors and transforms. Planar rigid body. Forward kinematics of planar arm

3 9/5 Inverse Kinematics of planar arm, linear and angular velocity and accelerations of planar rigid body
4 9/9 Planar arm Jacobian, singularity, iterative inverse kinematics (last day to add)
5 9/12

Planar arm kinematic control, obstacle avoidance, potential field method, redundant arm

6 9/16 Planar Jacobian
7 9/19 Singular value decomposition, linear least square problem
8 9/23 Kinematic control (Jacobian pseudo inverse, gradient, damped least square)
9 9/26 Kinematic control: obstacle avoidance
10 9/30 Path and trajectory generation, interpolation
11 10/3

Orthonormal frame, SO(3)

  10/7 class cancelled
  10/9 Midterm #1
12 10/10 Midterm Solution, representations of SO(3)
  10/18 Drop deadline
13 10/15 Consecutive Rotations, Euler Angles
14 10/17 Angular/Linear Velocity and Acceleration of Rigid Body, representation Jacobian and Singularities
15 10/21 Forward Kinematics: Product of Exponential Method
16 10/24 Jacobian for Articulated Robot Arm
19 10/28 Inverse Kinematics
20 10/31 Multibody Dynamics: Lagrange-Euler Approach
21 11/4 Multibody Dynamics: Newton-Euler Approach
22 11/7 Dynamics based Control
23 11/11 Closed kinematics chain and force of interaction
24 11/14 Force control
25 11/18 Parallel Mechanism kinematics
26 11/21 Parallel Mechanism Jacobian and kinematics based control

27

11/25 Mobile robot kinematics and control
28 12/2 Midterm #2
29 12/5 Review
  12/17 Project Due

 

Back to top