View source for ME CDS EE 234

This is the homepage for ME/CDS/EE 234(a,b) (Advanced Robotics) for Winter/Spring 2021/2022.  
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teaching Asst.'''
| Anushri Dixit
| 205 Gates-Thomas
| TBD
| [mailto:adixit@caltech.edu adixit at caltech dot edu]
| 626-395-????
|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

* '''Lecture Schedule:''' TBD

== Announcements  For ME/CDS/EE 234(a) ==
* '''01/04/22:''' :
** The [http://robotics.caltech.edu/~jwb/courses/ME115/Videos/Spider_Mechanism.mp4 Spider Mechanism Video] (in mp4 format).
** The [http://robotics.caltech.edu/~jwb/courses/ME115/Videos/Rostock_Mechanism.mp4 Rostock Video] (in mp4 format).
* '''05/14/16:''' The first video lecture can be downloaded [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Lecture1.mov from here] in .mov format
* '''05/14/16:''' The second video lecture can be [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Lecture2.mp4 downloaded here] in .mp4 format
* '''05/04/16:''' The [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/final_project_b.16.pdf Final Project Guidelines]
* '''04/06/16:''' The T.A. office hours will be Thurs, 8:00 pm onward, in Room 229 (#2-#3) of Sherman-Fairchild Library

== Course Text and References ==

'''ME/CDS/EE 234(a):''' The first quarter will use two main text books:  
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]  
** The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course
** We will refer to this text as ''MLS'' (the initials of the authors last names). While the course topics will follow the text subjects, additional material not in the text will often be presented in class and via additional handouts (that will be posted on this website)
* [https://www.cambridge.org/core/books/mechanics-of-robot-grasping/0D79AD1A613397256CB1AEA67F3B3A6E E. Rimon and J.W. Burdick, "The Mechanics of Robot Grasping", Univ. of Cambridge Press, 2019]
** You DO NOT need to buy this book.  By special agreement with the publishers, appropriate sections of this text will be distributed to class members for free. 



== Course Syllabus ==

''Theoretical Kinematics'' is the study of motion and the analytical tools to represent motion, while  '''Applied Kinematics''' is the analysis and synthesis of mechanisms which implement given motions. This course presents a basic overview of theoretical kinematics, while the applied portions focus on robotic mechanisms. 

An [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/Overview2016.pdf overview] of the course, including course mechanics, grading, etc.  The most salient information is repeated below.

=== Grading ===

The final grade will be based on homework sets, and a final exam or final project: 

* ''' Homework (70%):''' Homework sets will be handed out every 7-10 days, and are due at 5 pm on the due date (which will always coincide with a class meeting).  Homeworks can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas.  Some homeworks will require computation.  MATLAB or Mathematica should be sufficient to solve every homework posed in this course, though students can choose their favorite programming language. Code is considered part of your solution and should be included in with the problem set when appropriate.

* '''Final exam/project (30%):''' Students have the option to take a final exam (a limited time take-home format exam which is open book, open note, and computer allowed) or select a final project.  The final project must incorporate some aspect of the course, and the topic and scope my be approved by the course instructor.  The final exam will due at 5:00 pm the last day of finals. The final project is similarly due at 5:00 pm on the last day of finals.

* '''Late Homework Policy:'''  Students may automatically take a 2-day extension on '''two''' homeworks during each quarter.

=== Collaboration Policy === 

Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect
your own understanding of the subject matter.  Computer code and graphical plots are considered part of your solution, and therefore should be done individually (you can share ideas, but not code).  No collaboration is allowed on the examinations.

== Course Schedule for ME115(b) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1 
| colspan=5|
==== From Manipulator Singularities to Closed Loop Mechanisms ====
|-
| 28 March (M)
| Manipulator Singularities (concluded) <br> Intro to Closed Loop Mechanisms
| -N/A-
| -N/A-
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set1b.16.pdf Homework 1] <br> [http://robotics.caltech.edu/~jwb/courses/ME115/homework/sol1b.16.pdf Solution 1]

|-
| 30 March (W)
| Closed Loop Linkages: Structure Equations & Mobility
| Murray, Li Sastry (MLS), Section 3.4
| -N/A-

|-
| 1 April (F)
| Closed Loop Linkages: Special Configurations
| Murray, Li Sastry (MLS), Section 3.4
| -N/A-

|-
| align=center rowspan=4 | 2 
| colspan=5|

==== Closed Loop Mechanisms and Parallel Mechanisms ====
|-
| 4 April (M)
| Closed Loop Linkages: Multi-Loop Linkages 
| MLS, Section 3.5
| -N/A-
| rowspan=3 align=center | -No Homework-

|-
| 6 April (W)
| Intro to Parallel Linkages
| -N/A-
| -N/A-

|-
| 8 April (F)
| Parallel Mechanisms: structure Equations and Singularities
| MLS Section 3.5
| 

|-
| align=center rowspan=4 | 3 
| colspan=5|

==== Parallel Mechanisms to Redundant manipulators ====

|-
| 11 April (M)
| The Delta Mechanism
| [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/DeltaKinematics.pdf Paper on Delta Kinematics]
| [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/DeltaRobotHistory.pdf History of Delta Mechanism]; [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/DeltaMechanismSingularities.pdf Singularities of Delta Mechanisms];
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set2b.16.pdf Homework 2] <br> [http://robotics.caltech.edu/~jwb/courses/ME115/homework/sol2b.2016.pdf Solution #2]

|-
| 13 April (W)
| Redundant Mechanisms and PseudoInverse
| -N/A-
| 

|-
| 15 April (F)
| Redundancy resolution and trajectory planning
| Notes on the [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/pseudo.pdf Moore-Penrose Pseudo Inverse]
| -N/A-

|-
| align=center rowspan=4 | 4 
| colspan=5|

==== From Redundant Manipulators to Grasping ====
|-
| 18 April (M)
| The Moore-Penrose Pseudo Inverse and SVD
| MLS Chapt 3, Section 5.1
| 
| rowspan=3 align=center | 

|-
| 20 April (W)
|  Redundancy Resolution and Obstacle Avoidance Example <br> Intro to Grasping
|  MLS Chapt 3, Section 5.1
| [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/MaciejewskiKleinRedundantObstacleAvoidance.pdf Maciejewski & Klein]
|-
| 22 April (F)
| Contact Models
| Section 5.2 of the MLS Text
| -N/A-

|-
| align=center rowspan=4 | 5 
| colspan=5|

==== Force Closure Grasps ====
|-
| 25 April (M)
| Finger Contact Models
| Section 2.1 of MLS Chapter5
| -N/A- 
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set3b.16.pdf Homework 3] <br> [http://robotics.caltech.edu/~jwb/courses/ME115/homework/sol3b.16.pdf Solution 3]

|-
| 27 April (W)
| The Grasp Map<br> Secure Multi-Fingered Grasps 
| Section 2.2 of MLS Chapter 5 
| N/A-

|-
| 29 April (F)
| Force Closure (continued)
| Section 5.3, 5.4 of the MLS Text
| -N/A-

|-
| align=center rowspan=4 | 6 
| colspan=5|

==== Force Closure Grasps ====
|-
| 2 May (M)
| Frictionless Force Closure
| -N/A-
| -N/A- 
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set4b.16.pdf Homework 4]; <br> [http://robotics.caltech.edu/~jwb/courses/ME115/homework/sol4b.16.pdf Solution 4]
|-
| 4 May (W)
| Force Closure and Internal Forces
| -N/A-
| -N/A-
|-
| 6 May (F)
| Number of required fingers
| Section 5.4 of the MLS Text
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5|

==== Yet more Robotic Grasping  ====
|-
| 9 May (M)
| Number  of fingers needed to grasp an object
| Section 5.4 of MLS Text
| -N/A- 
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set5b.16.pdf Homework 5]; <br> [http://robotics.caltech.edu/~jwb/courses/ME115/homework/sol5b.16.pdf Solution 5]
|-
| 11 May (W)
| Grasp Planning/Hand Kinematics
| Section 5.5 of MLS Text
| -N/A-
|-
| 13 May (F)
| Hand Kinematics
| Section 5.5 of the MLS Text
| -N/A-
|-
| align=center rowspan=4 | 8
| colspan=5|

==== Yet more Robotic Grasping  ====
|-
| 16 May (M)
| Differential Geometry of Curves
| Section 5.6 of MLS text <br> [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/curves.pdf Notes on the Differential Geometry of Curves] 
| -N/A- 
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set6b.16.pdf Homework #6]
|-
| 18 May (W)
| Planar Contact Equations
| Section 5.6 of MLS Text <br> [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/contact.pdf Notes on the Planar Contact Equations]
| -N/A-
|-
| 20 May (F)
| ''No Class'' due to travel 
| -N/A-
| -N/A-

|-
| align=center rowspan=4 | 9
| colspan=5|

==== Miscellaneous ====

|-
| 23 May (M)
| Review of planar contact equations <br> Grasp Equations with non-point fingers
| Chapter 5 of MLS
| 
| rowspan=3 align=center | 

|-
| 25 May (W)
| Gears,Quasistatic Locomotion
| [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Gears.pptx Slides on Gears]
| -N/A-

|-
| 27 May (F)
| No Class (travel)
| -N/A-
| -N/A-

|-
| align=center rowspan=3 | 10
| colspan=5|

==== Miscellaneous ====

|-
| 30 May (M)
| ''Institute Holiday''
| 
| 
| rowspan=3 align=center |

|-
| 1 June (W)
| Quasistatic Locomotion and Whole Body Manipulation
| [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/WholeBody.ppt Slides on Whole Body Manipulation]
| -N/A-

|}

<!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -->

== Course Schedule for ME115(a) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
|  align=center rowspan=4 | 1 
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 4 Jan (Mon.)
| Class Overview
| [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/Overview2016.pdf Course Overview], <br> [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page  Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from <em> Kinematic Synthesis of Linkages</em>)   
| rowspan=3 align=center | -No Homework-

|-
| 6 Jan (W)
| Planar Rigid Body Kinematics, <br> Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| -N/A- 
|-
| 8 Jan (F)
| Planar Rigid Body Displacements (''continued''), <br> Displacement groups  
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 11 Jan (M)
| Displacement groups, poles <br> [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/PlanarDisplacements.pptx Planar Displacements] (PowerPoint)
| 
| -N/A-
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set1.16.pdf Homework 1], <br> [http://robotics.caltech.edu/~jwb/courses/ME115/homework/sol1a.16.pdf Solution 1]

|-
| 13 Jan (W)
| [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes]: Ellliptical Trammel, <br> [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation]
Intro to Spherical Kinematics 
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26],<br> [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/EllipticalTrammel.pdf Notes on the Elliptical Trammel], 
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia)<br> [http://www.iftomm.org/iftomm/proceedings/proceedings_WorldCongress/WorldCongress07/articles/sessions/papers/A471.pdf Polyhedral Linkages Synthesized Using Cardan Motion Along Radial Lines]
|

|-
| 15 Jan (F)
| Spherical Kinematics (''continued''), <br> Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], <br> [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/MatrixGroups.pdf Notes on the Classical Matrix Groups]

| -N/A-

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 18 Jan (M)
| ''No Class'': '''Marin Luther King Holiday'''
| -N/A-
| -N/A-
| rowspan=3 align=center | No Homework
|-
| 20 Jan (W)
| Cayley's Theorem, <br> 
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31], <br> [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/rotation.pdf Notes on Rotations]
| -N/A-
|-
| 22 Jan (F)
| ''No Class''
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34] 
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics (''continued'')=====
|-
| 25 Jan (M)
| Angle/Axis Representation and Rodriguez Formula
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/algebra.pdf Notes on Algebras]
| rowspan=3 align=center | -N/A-

|-
| 27 Jan (W)
| ''No Class''
| -N/A-
| -N/A-
|-
| 29 Jan (W)
| ''No Class''
| -N/A-
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics =====
|-
| 1 Feb (M)
| ''No Class'' 
| -N/A-
| -N/A-
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set2a.16.pdf Homework 2], <br> [http://robotics.caltech.edu/~jwb/courses/ME115/homework/sol2a.16.pdf Solution 2]

|-
| 3 Feb (W)
| Exponential Coordinates and Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3]
| -N/A-

|-
| 5 Feb (F)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 51-52]
| -N/A-

|-
| align=center rowspan=5 | 6
| colspan=5 |

===== Spatial Kinematics (''continued'')=====
|-
| 8 Feb (M)
| Quaternions (''continued''), <br> Intro to Spatial Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/algebra.pdf Notes on Algebras]
| rowspan=4 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set3a.16.pdf Homework 3], <br>  [http://robotics.caltech.edu/~jwb/courses/ME115/homework/sol3a.16.pdf Solution 3]

|-
| 8 Feb (M)
| Spatial Displacments, <br> Chasle's Theorem, Exponential Coordinates
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 35-50]
| -N/A-
|-
| 10 Feb (W)
| Motion Capture <br> Rigid Body Velocities
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 51-61]; [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/rodriguez.pdf Rodriguez' Displacement Equation];
| -N/A-

|-
| 12 Feb (F)
|  ''No Class''
| -N/A-
| -N/A-


|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics: Velocities and Wrenches =====
|-
| 15 Feb (M)
| ''No Class:'' '''President's Day Holiday'''
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.3];
| -N/A-
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set4a.16.pdf Homework 4], <br> [http://robotics.caltech.edu/~jwb/courses/ME115/homework/sol4a.16.pdf Solution 4]
|-
| 17 Feb (W)
| Rigid Body Velocities (''continued'')
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.3]
| -N/A-
|-
| 19 Feb(F)
| Transformation of Velocities <br> Wrenches and Poinsot's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.4-2.5]
| -N/A-

|-
| align=center rowspan=5 | 8
| colspan=5 |

===== Robot Manipulators =====
|-
| 22 Feb (M)
| Wrenches ''(continued)'', <br> Screw Theory
| -N/A- 
| -N/A-
| rowspan=4 align=center | No Homework

|-
| 22 Feb (M)
| Robot Manipulators: Introduction
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Chapter 3, pages 81-94]
| -N/A-

|-
| 23 Feb (W)
| Denavit Hartenberg Convention
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Chapter 3, pages 81-94]
| -N/A-

|-
| 25 Feb(F)
| Forward Kinematics via the Denavit-Hartenberg Convention
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3], 
| [https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters DH-Parameters] (from Wikipedia), <br> [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/DenavitHartenberg_Craig.pdf Scan from Craig Book] on D-H Parameters
|-
| align=center rowspan=4 | 9
| colspan=5 |

===== Forward/Inverse Kinematics =====
|-
| 29 Feb (M)
| Denavit-Hartenberg Convention (continued), Examples
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]; [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/rodriguez.pdf Rodriguez' Displacement Equation];
| -N/A-
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set5a.16.pdf Homework 5], <br> [http://robotics.caltech.edu/~jwb/courses/ME115/homework/sol5a.16.pdf Solution 5]
|-
| 2 Mar (W)
| Product of Exponentials Formula
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]
| -N/A-
|-
| 4 Mar(F)
| Inverse Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]
| -N/A-

|-
| align=center rowspan=4 | 10
| colspan=5 |

===== Jacobian Matrix and Singularities =====
|-
| 7 Mar (M)
| Manipulator Jacobian Matrices
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3, pages 115-120]; 
| -N/A-
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set6a.16.pdf Optional Homework 6]

|-
| 7 Mar (M)
| Jacobian Matrix (continued), End-effector forces
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3, 121-123];
| -N/A-

|-
| 9 Mar (W)
| Manipulator Singularities
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3, pp 123-127]
| -N/A-

|}