Instructor: Prof. John T. Wen, CII 8015, x6156 wenj at rpi . edu
Office Hour: W/F 910
Class Hours: M/Th 45:30pm (W 45:30 is reserved for makeup lectures)
Class Room: JEC 4107
Additional Resources

Jorge Angeles’ Robotics book online (through RPI library, requires Internet Explorer)
 Book site for Murray, Li, & Sastry, “Mathematical Introduction to Robotic Manipulation” http://www.cds.caltech.edu/~murray/books/MLS94/index.html
 MATLAB robotics toolbox (free) http://www.cat.csiro.au/cmst/staff/pic/robot/
Lecture Slides
# 
Date 
Lecture 

1/17 

1/18 

1/29 
Differential kinematics and rigid body motion SE(3) inclass 
2/5 
Metrics on SO(3) and SE(3). Rigid body kinematic control inclass 
2/7 
Open chain of rigid bodies, forward kinematics Murray, Li, & Sastry 1 2 3 inclass 
2/8 
forward kinematics inclass 
2/12 
Inverse kinematics for open chain inclass 
2/15 
Inverse kinematics, decomposition approach inclass 
2/20 
Differential kinematics for open chain, manipulator Jacobian inclass 
2/22 
Singularity inclass 
2/26 
Geometric characterization of singularities, redundant manipulators, kinematic control inclass 
2/28 
Parallel mechanisms, inverse and forward kinematics inclass 
Spring Break!!! 
3/12 
Parallel mechanisms, Cont. inclass 
3/15 
Parallel mechanism, singularities inclass 
3/19 
Multirobot and multifinger manipulation inclass 
3/22 
Grasp stability inclass
MurrayLiSastry Ch.5
J.T. Wen, L.S. Wilfinger, "Kinematic Manipulability of General Constrained Rigid Multibody Systems,'' IEEE Transaction on Robotics and Automation, 15(3), June, 1999. pp.558567. 
3/26 
Midterm solution inclass 
3/29 
school closed 
4/2 
Nonholonomic constraint, wheeled robots inclass
J.T. Wen, ``Control of Nonholonomic Systems,'' in Control Handbook, ed. by W. Levine, CRC Press, 1995, pp.13591368.
I. Kolmanovsky, N.H. McClamroch, “Development in Nonholonomic Control Problems,” IEEE Control Systems Magazine, 15(6), Dec., 1995, pp. 20—36.
L.G. Bushnell, D.M. Tilbury, S.S. Sastry, “Steering ThreeInput Nonholonomic Systems: The Fire Truck Example,” International Journal of Robotics Research, 14(4):366381, 1993.
A. De Luca, G. Oriolo, G. Samson, “Feedback Control of a Nonholonomic Carlike Robot,” in Robot Motion Planning and Control, ed. JeanPaul Laumond, Lecture Notes in Control and Information Sciences 229, Springer, 1998. 
4/5 

4/9 

4/12 
serial chain dynamics: Lagrange Euler method inclass 
4/16 

4/19 

4/23 

4/26 

4/30 
Robot force control, Minimum time control 
