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ECSE 6410 Robotics and Automation (Spring 2007)

Course Outline

# Date
Topic
Reading
HW/Exam
1 1/17

Introduction

·  Chapter 1 of Angeles' book
·  
McKarrow Introduction 1, 2, 3  
·  Additional notes on rigid body kinematics

HW #1 handout
2 1/18
Rigid-body Kinematics, representations of SO(3)
 Kahane notes 1
Wittenberg 1
 
  1/22
Class cancelled
   
  1/25
Class cancelled
   
3 1/29
Differential Kinematics
 

HW #1 due
HW #2 handout

  2/1
Class cancelled
   
4 2/5
Spatial velocity and spatial force
   
5 2/7
Metrics on SO(3) and rigid body kinematic control
  HW #2 due
HW #3 handout
6 2/8
Forward kinematics of open chain
   
7 2/12
Inverse kinematics of open chain
   
8 2/15
Inverse kinematics of open chain
  HW #3 due
HW #4 handout
9 2/20
Manipulator Jacobian
   
10 2/22
Singularities
   
11 2/26
Geometric characterization of singularities, redundant manipulators, kinematic control
   
12 2/28
Parallel mechanisms, closed kinematic chain
  HW #4 due
Spring Break
13 3/12
Grasping, grasp stability
  mid term handout
14 3/15
Trajectory generation
 
15 3/19
rgid body dynamics
  mid term due
16 3/22
rigid body control
   
17 3/26
serial chain dynamics
   
18 3/29
serial chain dynamics: recursive Newton-Euler
   
19 4/2
Order N inverse and forward dynamics
   
20 4/5
Robot control
   
21 4/9
Dynamics of parallel mechanisms
   
22 4/11
Control of parallel mechanisms
   
23 4/12
Mobile robot dynamics and control
   
24 4/16
Robot force control
   
25 4/19
Minimum time control
   
26 4/23
Basic vision
   
27 4/26
Visual servoing
   
28 4/30

Recap