Difference between revisions of "ME115 2016"

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| Nikola Georgiev
 
| Nikola Georgiev
 
| 205 Gates-Thomas
 
| 205 Gates-Thomas
−
| Mon. Feb. 8, SFL Group Study room 220 (#2-2), 4-5:00 pm <br> Tues. Feb. 9, SFL Group Study Room 220 (#2-2) 8-9:00 pm
+
| Thurs. Apr, 7, SFL Group Study Room 229 (#2-3) 8 pm
 
| [mailto:georgiev@caltech.edu georgiev at caltech dot edu]
 
| [mailto:georgiev@caltech.edu georgiev at caltech dot edu]
 
| 626-395-????
 
| 626-395-????
 
|-
 
|-
 
| '''Teach Asst.'''
 
| '''Teach Asst.'''
 +
| Yoke Peng Leong
 +
| Annenberg
 
| TBD
 
| TBD
−
| TBD
+
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
−
| TBD
+
−
| [mailto:krishna@caltech.edu ??? at caltech dot edu]
+
 
| 626-395-????
 
| 626-395-????
 
|-
 
|-
Line 37: Line 37:
  
  
−
* '''Lecture Schedule:''' The lecture schedule seems to have stabilized. The currently planned lectures will take place at:
+
* '''Lecture Schedule:''' Monday, Wednesday, Friday 10:00-11:00 am, Gates-Thomas 135
−
** Monday: 9:00 am  - 9:55 am in Gates-Thomas 135
+
−
** Wednesday: 12:00 pm - 12:55 pm in Gates-Thomas 135
+
−
** Friday:  10:00 am - 10:55 am in Gates-Thomas 135
+
  
−
On Wed. '''February 17, 2016''' class will take place in Gates-Thomas 115 (just for that one lecture).
+
== Announcements  For ME 115(b) ==
−
 
+
* '''06/01/16:''' The Final Exam is [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/final.16b.pdf available here] .  The instructions are included on the first page.  To complete the exam, you will have to download and watch the following videos:
−
== Announcements ==
+
** The [http://robotics.caltech.edu/~jwb/courses/ME115/Videos/Spider_Mechanism.mp4 Spider Mechanism Video] (in mp4 format).
−
* '''02/08/16:''' T.A. Office hours this week:
+
** The [http://robotics.caltech.edu/~jwb/courses/ME115/Videos/Rostock_Mechanism.mp4 Rostock Video] (in mp4 format).
−
** Mon. Feb. 8, SFL Group Study room 220 (#2-2), 4-5:00 pm
+
* '''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
−
** Tues. Feb. 9, SFL Group Study Room 220 (#2-2) 8-9:00 pm
+
* '''05/14/16:''' The second video lecture can be [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Lecture2.mp4 downloaded here] in .mp4 format
−
* '''02/05/16:''' We need an extra class per week to catch up with the missed classes.  The same lecture will be given twice on Mondays.  You need attend only '''one''' of the following lectures.
+
* '''05/04/16:''' The [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/final_project_b.16.pdf Final Project Guidelines]
−
** 11:00am-noon in 135 Gates-Thomas
+
* '''04/06/16:''' The T.A. office hours will be Thurs, 8:00 pm onward, in Room 229 (#2-#3) of Sherman-Fairchild Library
−
** 7:30-8:30 pm in 135 Gates-Thomas
+
−
* '''02/01/16:''' Class '''WILL''' be held on Wednesday, Feb. 3, 2016 at the usual time and location
+
−
* '''02/01/16:''' There will be '''NO''' class on Monday, Feb. 1, 2016.
+
−
* '''01/15/16:''' Office hours for Homework 1
+
−
** Nikola Georgiev will hold office hours on Monday January 18 and Tuesday, January 19 from 8-9 pm in the Sherman Fairchild Library Group Study Room 229 (#2-3).
+
−
** Joel Burdick will hold an office hours from 3-4 pm and 4:30-5:30 pm on Tuesday Jan. 19 in Gates-Thomas 245
+
−
* '''01/14/16:''' On Wed. '''February 17, 2016''' class will take place in Gates-Thomas 115 (just for that one lecture).
+
−
* '''01/11/16:''' Homework #1 will be available during the evening of Mon., Jan. 11. Due Wed. Jan 20.
+
−
* '''01/09/16:''' The class time is tentative set (see lecture schedule above)
+
−
* '''01/04/16:''' The class time (and probably location) will be changed in order to allow the maximum number of students to participate.  Look for updates.
+
  
 
== Course Text and References ==
 
== Course Text and References ==
Line 90: Line 77:
 
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.
 
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) ==
 
== Course Schedule for ME115(a) ==
Line 107: Line 330:
 
| [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>)   
 
| [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-
 
| rowspan=3 align=center | -No Homework-
 +
 
|-
 
|-
 
| 6 Jan (W)
 
| 6 Jan (W)
Line 200: Line 424:
 
| -N/A-
 
| -N/A-
 
| -N/A-
 
| -N/A-
−
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set2a.16.pdf Homework 2]
+
| 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]
  
 
|-
 
|-
Line 224: Line 448:
 
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
 
| [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]
 
| [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]  
+
| 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]
  
 
|-
 
|-
Line 233: Line 457:
 
|-
 
|-
 
| 10 Feb (W)
 
| 10 Feb (W)
−
| Rigid Body Velocities
+
| Motion Capture <br> Rigid Body Velocities
−
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 51-61]
+
| [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-
 
| -N/A-
  
 
|-
 
|-
−
| 12 Feb (W)
+
| 12 Feb (F)
 
|  ''No Class''
 
|  ''No Class''
 
| -N/A-
 
| -N/A-
 
| -N/A-
 
| -N/A-
  
−
|-
 
−
| align=center rowspan=4 | 6
 
−
| colspan=5 |
 
−
 
−
===== Spatial Kinematics =====
 
−
|-
 
−
| 8 Feb (M)
 
−
| Spatial Kinematics: Homogeneous Coordinates and Chasle's Theorem
 
−
| [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]
 
−
 
−
|-
 
−
| 10 Feb (W)
 
−
| Relations among various representations of displacements & motion capture
 
−
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.3]
 
−
| -N/A-
 
−
 
−
|-
 
−
| 12 Feb(F)
 
−
| Motion capture & Rigid Body Velocities
 
−
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.4]
 
−
| -N/A-
 
  
 
|-
 
|-
Line 271: Line 472:
 
| colspan=5 |
 
| colspan=5 |
  
−
===== Spatial Kinematics: Wrenches =====
+
===== Spatial Kinematics: Velocities and Wrenches =====
 
|-
 
|-
 
| 15 Feb (M)
 
| 15 Feb (M)
Line 277: Line 478:
 
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.3];
 
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.3];
 
| -N/A-
 
| -N/A-
−
| rowspan=3 align=center | -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)
 
| 17 Feb (W)
−
| Wrenches and Poinsot\'s Theorem
+
| Rigid Body Velocities (''continued'')
−
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.4-2.5]
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.3]
 
| -N/A-
 
| -N/A-
 
|-
 
|-
 
| 19 Feb(F)
 
| 19 Feb(F)
−
| Screws and the Reciprocal Product
+
| Transformation of Velocities <br> Wrenches and Poinsot's Theorem
−
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.5]
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.4-2.5]
 
| -N/A-
 
| -N/A-
 +
 
|-
 
|-
−
| align=center rowspan=4 | 8
+
| align=center rowspan=5 | 8
 
| colspan=5 |
 
| colspan=5 |
  
−
===== Manipulators =====
+
===== Robot Manipulators =====
 
|-
 
|-
 
| 22 Feb (M)
 
| 22 Feb (M)
−
| '''TBD'''
+
| Wrenches ''(continued)'', <br> Screw Theory
 
| -N/A-  
 
| -N/A-  
 
| -N/A-
 
| -N/A-
−
| rowspan=3 align=center | No Homework
+
| 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)
 
| 23 Feb (W)
−
| Manipulator Mechanisms and Lower Pair Joints
+
| Denavit Hartenberg Convention
−
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Chapter 3, pages 81-94]
 
| -N/A-
 
| -N/A-
  
 
|-
 
|-
 
| 25 Feb(F)
 
| 25 Feb(F)
−
| Denavit-Hartenberg Convention
+
| Forward Kinematics via the Denavit-Hartenberg Convention
 
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3],  
 
| [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
 
| [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
Line 321: Line 529:
 
| [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];
 
| [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-
 
| -N/A-
−
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set4.12.pdf Homework 5]
+
| 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)
 
| 2 Mar (W)
Line 334: Line 542:
  
 
|-
 
|-
−
| align=center rowspan=3 | 10
+
| align=center rowspan=4 | 10
 
| colspan=5 |
 
| colspan=5 |
  
−
===== Forward/Inverse Kinematics =====
+
===== Jacobian Matrix and Singularities =====
 
|-
 
|-
 
| 7 Mar (M)
 
| 7 Mar (M)
−
| Denavit-Hartenberg Convention (continued), Examples
+
| Manipulator Jacobian Matrices
−
| [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];
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3, pages 115-120];  
 
| -N/A-
 
| -N/A-
−
| rowspan=2 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set4.12.pdf Homework 6]
+
| 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)
 
| 9 Mar (W)
−
| Product of Exponentials Formula
+
| Manipulator Singularities
−
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]
+
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3, pp 123-127]
 
| -N/A-
 
| -N/A-
  
 
|}
 
|}
 +
 +
== Announcements  For ME 115(a) ==
 +
* '''03/21/16:''' Here is the [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/final.16a.sol.pdf Final Exam Solution]
 +
* '''03/13/16:''' Here is the [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/finala.16.pdf Final Exam].  The exam instructions are located on the first page.  Good luck!
 +
* '''02/22/16:''' Here are the [http://robotics.caltech.edu/~jwb/courses/ME115/handouts/FinalProject.16a.pdf Final Project Guidelines]
 +
* '''02/19/16:''' Homework #2 is graded.  You can pick it up from Sonya Lincoln, or pick it up in class starting Monday Feb. 22
 +
* '''02/17/16:''' T.A. Office hours this week:
 +
** Wed. Feb. 17, SFL Group Study room 220 (#2-2), 4-5:00 pm
 +
** Thurs. Feb. 18, SFL Group Study Room 220 (#2-2) 6-7:00 pm
 +
* '''02/08/16:''' T.A. Office hours this week:
 +
** Mon. Feb. 8, SFL Group Study room 220 (#2-2), 4-5:00 pm
 +
** Tues. Feb. 9, SFL Group Study Room 220 (#2-2) 8-9:00 pm
 +
* '''02/05/16:''' We need an extra class per week to catch up with the missed classes.  The same lecture will be given twice on Mondays.  You need attend only '''one''' of the following lectures.
 +
** 11:00am-noon in 135 Gates-Thomas
 +
** 7:30-8:30 pm in 135 Gates-Thomas
 +
* '''02/01/16:''' Class '''WILL''' be held on Wednesday, Feb. 3, 2016 at the usual time and location
 +
* '''02/01/16:''' There will be '''NO''' class on Monday, Feb. 1, 2016.
 +
* '''01/15/16:''' Office hours for Homework 1
 +
** Nikola Georgiev will hold office hours on Monday January 18 and Tuesday, January 19 from 8-9 pm in the Sherman Fairchild Library Group Study Room 229 (#2-3).
 +
** Joel Burdick will hold an office hours from 3-4 pm and 4:30-5:30 pm on Tuesday Jan. 19 in Gates-Thomas 245
 +
* '''01/14/16:''' On Wed. '''February 17, 2016''' class will take place in Gates-Thomas 115 (just for that one lecture).
 +
* '''01/11/16:''' Homework #1 will be available during the evening of Mon., Jan. 11.  Due Wed. Jan 20.
 +
* '''01/09/16:''' The class time is tentative set (see lecture schedule above)
 +
* '''01/04/16:''' The class time (and probably location) will be changed in order to allow the maximum number of students to participate.  Look for updates.

Latest revision as of 10:30, 13 June 2016

This is the homepage for ME 115(a,b) (Introduction to Kinematic and Robotics) for Winter/Spring 2016.

Course Staff, Hours, Location

Position Name Office Office Hours (changing weekly) Email Phone
Instructor Joel Burdick 245 Gates-Thomas send mail for an appointment jwb at robotics dot caltech dot edu 626-395-4139
Teach Asst. Nikola Georgiev 205 Gates-Thomas Thurs. Apr, 7, SFL Group Study Room 229 (#2-3) 8 pm georgiev at caltech dot edu 626-395-????
Teach Asst. Yoke Peng Leong Annenberg TBD ypleong at caltech dot edu 626-395-????
Administrative Sonya Lincoln 250 Gates-Thomas 7:30am-noon; 1:00pm-4:30pm lincolns at caltech dot edu 626-395-3385


  • Lecture Schedule: Monday, Wednesday, Friday 10:00-11:00 am, Gates-Thomas 135

Announcements For ME 115(b)

  • 06/01/16: The Final Exam is available here . The instructions are included on the first page. To complete the exam, you will have to download and watch the following videos:
  • 05/14/16: The first video lecture can be downloaded from here in .mov format
  • 05/14/16: The second video lecture can be downloaded here in .mp4 format
  • 05/04/16: The 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

The main course text is:

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. Additional course handouts covering this material will be posted on this website

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 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)

Week Date Topic Reading Optional Reading Homework
1

From Manipulator Singularities to Closed Loop Mechanisms

28 March (M) Manipulator Singularities (concluded)
Intro to Closed Loop Mechanisms 		-N/A- -N/A- Homework 1
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-
2

Closed Loop Mechanisms and Parallel Mechanisms

4 April (M) Closed Loop Linkages: Multi-Loop Linkages MLS, Section 3.5 -N/A- -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
3

Parallel Mechanisms to Redundant manipulators

11 April (M) The Delta Mechanism Paper on Delta Kinematics History of Delta Mechanism; Singularities of Delta Mechanisms; Homework 2
Solution #2
13 April (W) Redundant Mechanisms and PseudoInverse -N/A-
15 April (F) Redundancy resolution and trajectory planning Notes on the Moore-Penrose Pseudo Inverse -N/A-
4

From Redundant Manipulators to Grasping

18 April (M) The Moore-Penrose Pseudo Inverse and SVD MLS Chapt 3, Section 5.1
20 April (W) Redundancy Resolution and Obstacle Avoidance Example
Intro to Grasping 		MLS Chapt 3, Section 5.1 Maciejewski & Klein
22 April (F) Contact Models Section 5.2 of the MLS Text -N/A-
5

Force Closure Grasps

25 April (M) Finger Contact Models Section 2.1 of MLS Chapter5 -N/A- Homework 3
Solution 3
27 April (W) The Grasp Map
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-
6

Force Closure Grasps

2 May (M) Frictionless Force Closure -N/A- -N/A- Homework 4;
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-
7

Yet more Robotic Grasping

9 May (M) Number of fingers needed to grasp an object Section 5.4 of MLS Text -N/A- Homework 5;
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-
8

Yet more Robotic Grasping

16 May (M) Differential Geometry of Curves Section 5.6 of MLS text
Notes on the Differential Geometry of Curves 		-N/A- Homework #6
18 May (W) Planar Contact Equations Section 5.6 of MLS Text
Notes on the Planar Contact Equations 		-N/A-
20 May (F) No Class due to travel -N/A- -N/A-
9

Miscellaneous

23 May (M) Review of planar contact equations
Grasp Equations with non-point fingers 		Chapter 5 of MLS
25 May (W) Gears,Quasistatic Locomotion Slides on Gears -N/A-
27 May (F) No Class (travel) -N/A- -N/A-
10

Miscellaneous

30 May (M) Institute Holiday
1 June (W) Quasistatic Locomotion and Whole Body Manipulation Slides on Whole Body Manipulation -N/A-


Course Schedule for ME115(a)

Week Date Topic Reading Optional Reading Homework
1
Introduction and Review of Rigid Body Kinematics
4 Jan (Mon.) Class Overview Course Overview,
Chapter 1 of MLS 		History of Kinematics Through 1900 (Introductory chapter from Kinematic Synthesis of Linkages) -No Homework-
6 Jan (W) Planar Rigid Body Kinematics,
Planar displacements 		MLS Ch 2.1, Pages 19-23 -N/A-
8 Jan (F) Planar Rigid Body Displacements (continued),
Displacement groups 		MLS Ch 2.1, -N/A-
2
From Planar Rigid Body Kinematics to Spherical Kinematics
11 Jan (M) Displacement groups, poles
Planar Displacements (PowerPoint) 		-N/A- Homework 1,
Solution 1
13 Jan (W) Centrodes: Ellliptical Trammel,
Trammel, V 1, V 2, compliation

Intro to Spherical Kinematics

MLS Pages 22-26,
Notes on the Elliptical Trammel, 		Archemides Trammel (Wikipedia)
Polyhedral Linkages Synthesized Using Cardan Motion Along Radial Lines
15 Jan (F) Spherical Kinematics (continued),
Classical Matrix Groups 		MLS Ch 2.2, 2.3,
Notes on the Classical Matrix Groups 		-N/A-
3
Spherical Kinematics
18 Jan (M) No Class: Marin Luther King Holiday -N/A- -N/A- No Homework
20 Jan (W) Cayley's Theorem,
MLS 27-31,
Notes on Rotations 		-N/A-
22 Jan (F) No Class MLS 31-34 -N/A-
4
Spherical Kinematics (continued)
25 Jan (M) Angle/Axis Representation and Rodriguez Formula MLS 34-39 Notes on Algebras -N/A-
27 Jan (W) No Class -N/A- -N/A-
29 Jan (W) No Class -N/A- -N/A-
5
Spatial Kinematics
1 Feb (M) No Class -N/A- -N/A- Homework 2,
Solution 2
3 Feb (W) Exponential Coordinates and Euler Angles MLS Ch 2.2, 2.3 -N/A-
5 Feb (F) Quaternions MLS Pages 51-52 -N/A-
6
Spatial Kinematics (continued)
8 Feb (M) Quaternions (continued),
Intro to Spatial Kinematics 		MLS 34-39 Notes on Algebras Homework 3,
Solution 3
8 Feb (M) Spatial Displacments,
Chasle's Theorem, Exponential Coordinates 		MLS Pages 35-50 -N/A-
10 Feb (W) Motion Capture
Rigid Body Velocities 		MLS Pages 51-61; Rodriguez' Displacement Equation; -N/A-
12 Feb (F) No Class -N/A- -N/A-


7
Spatial Kinematics: Velocities and Wrenches
15 Feb (M) No Class: President's Day Holiday MLS Ch 2.3; -N/A- Homework 4,
Solution 4
17 Feb (W) Rigid Body Velocities (continued) MLS Ch 2.3 -N/A-
19 Feb(F) Transformation of Velocities
Wrenches and Poinsot's Theorem 		MLS Ch 2.4-2.5 -N/A-
8
Robot Manipulators
22 Feb (M) Wrenches (continued),
Screw Theory 		-N/A- -N/A- No Homework
22 Feb (M) Robot Manipulators: Introduction MLS Chapter 3, pages 81-94 -N/A-
23 Feb (W) Denavit Hartenberg Convention MLS Chapter 3, pages 81-94 -N/A-
25 Feb(F) Forward Kinematics via the Denavit-Hartenberg Convention MLS Ch 3, DH-Parameters (from Wikipedia),
Scan from Craig Book on D-H Parameters
9
Forward/Inverse Kinematics
29 Feb (M) Denavit-Hartenberg Convention (continued), Examples MLS Ch 3; Rodriguez' Displacement Equation; -N/A- Homework 5,
Solution 5
2 Mar (W) Product of Exponentials Formula MLS Ch 3 -N/A-
4 Mar(F) Inverse Kinematics MLS Ch 3 -N/A-
10
Jacobian Matrix and Singularities
7 Mar (M) Manipulator Jacobian Matrices MLS Ch 3, pages 115-120; -N/A- Optional Homework 6
7 Mar (M) Jacobian Matrix (continued), End-effector forces MLS Ch 3, 121-123; -N/A-
9 Mar (W) Manipulator Singularities MLS Ch 3, pp 123-127 -N/A-

Announcements For ME 115(a)

  • 03/21/16: Here is the Final Exam Solution
  • 03/13/16: Here is the Final Exam. The exam instructions are located on the first page. Good luck!
  • 02/22/16: Here are the Final Project Guidelines
  • 02/19/16: Homework #2 is graded. You can pick it up from Sonya Lincoln, or pick it up in class starting Monday Feb. 22
  • 02/17/16: T.A. Office hours this week:
    • Wed. Feb. 17, SFL Group Study room 220 (#2-2), 4-5:00 pm
    • Thurs. Feb. 18, SFL Group Study Room 220 (#2-2) 6-7:00 pm
  • 02/08/16: T.A. Office hours this week:
    • Mon. Feb. 8, SFL Group Study room 220 (#2-2), 4-5:00 pm
    • Tues. Feb. 9, SFL Group Study Room 220 (#2-2) 8-9:00 pm
  • 02/05/16: We need an extra class per week to catch up with the missed classes. The same lecture will be given twice on Mondays. You need attend only one of the following lectures.
    • 11:00am-noon in 135 Gates-Thomas
    • 7:30-8:30 pm in 135 Gates-Thomas
  • 02/01/16: Class WILL be held on Wednesday, Feb. 3, 2016 at the usual time and location
  • 02/01/16: There will be NO class on Monday, Feb. 1, 2016.
  • 01/15/16: Office hours for Homework 1
    • Nikola Georgiev will hold office hours on Monday January 18 and Tuesday, January 19 from 8-9 pm in the Sherman Fairchild Library Group Study Room 229 (#2-3).
    • Joel Burdick will hold an office hours from 3-4 pm and 4:30-5:30 pm on Tuesday Jan. 19 in Gates-Thomas 245
  • 01/14/16: On Wed. February 17, 2016 class will take place in Gates-Thomas 115 (just for that one lecture).
  • 01/11/16: Homework #1 will be available during the evening of Mon., Jan. 11. Due Wed. Jan 20.
  • 01/09/16: The class time is tentative set (see lecture schedule above)
  • 01/04/16: The class time (and probably location) will be changed in order to allow the maximum number of students to participate. Look for updates.
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