ME CS 133 2018-19
From Robotics
This is a homepage for ME/CS 133(a) (Introduction to Robotics) for Fall/Winter 2018-19. We will also use the Caltech Moodle" system for submitting homeworks, lab assignments, and final project reports.
Course Staff, Hours, Location
| Position | Name | Office | Office Hours (changing weekly) | Phone | |
| Instructor | Joel Burdick | 245 Gates-Thomas | send mail for an appointment | jwb at robotics dot caltech dot edu | 626-395-4139 |
| Teach Asst. | Amanda Bouman | 205 Gates-Thomas | TBD | me133tas at robotics dot caltech dot edu | 626-395-4470 |
| Teach Asst. | Anushri Dixit | 205 Gates-Thomas | TBD | me133tas at robotics dot caltech dot edu | 626-395-4470 |
| Teach Asst. | Andrew Singletary | Gates-Thomas | TBD | me133tas at robotics dot 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:
- Days: Monday, Wednesday, Friday
- Time: 3:00-3:55 pm
- Location: 135 Gates-Thomas
Announcements For ME/CS 133(a,b)
Course Lecture Schedule for ME/CS 133(a)
| Week | Date | Topic | Reading | Optional Reading | Homework |
| 1 |
Introduction and Review of Rigid Body Kinematics | ||||
| 1 Oct. (Mon.) | Class Overview | Course Overview, Chapter 1 of MLS |
History of Kinematics Through 1900 (Introductory chapter from Kinematic Synthesis of Linkages) | -No Homework- | |
| 3 Oct. (W) | Planar Rigid Body Kinematics, Planar displacements |
MLS Ch 2.1, Pages 19-23 | Wikepedia Page on the Peaucellier Mechanism | ||
| 5 Oct. (F) | Planar Rigid Body Displacements (continued), Displacement groups |
MLS Ch 2.1, Change of Reference in Planar Displacements (PowerPoint) |
-N/A- | ||
| 2 |
From Planar Rigid Body Kinematics to Spherical Kinematics | ||||
| 08 Oct. (M) | poles, Centrodes, elliptic Trammel |
Notes on the Elliptical Trammel | Archemides Trammel (Wikipedia) Trammel, V 1, V 2, compliation, Linkages Synthesized Using Cardan Motion Along Radial Lines |
Homework 1, (Due Oct. 14) | |
| 10 Oct. (W) | Intro to Spherical Kinematics | MLS Pages 22-26, Notes on the Classical Matrix Groups |
-N/A- | ||
| 12 Oct. (F) | Spherical Kinematics (continued), Classical Matrix Groups |
MLS Ch 2.2, 2.3, Notes on Rotations |
Herman Weyl's book on the classical groups | ||
| 3 |
Spherical Kinematics | ||||
| 15 Oct. (M) | Cayley's Theorem, Euler's Theorem | MLS 27-31 | Wikipedia Page on Cayley Transform | Homework 2 (Due Oct. 24) | |
| 17 Oct. (W) | Angle-Axis Representation, Rodriguez Formula, Matrix Exponential, | -N/A- | |||
| 19 Oct. (F) | Euler Angles | MLS 31-34 | -N/A- | ||
| 4 |
Spherical Kinematics | ||||
| 22 Oct. (M) | Quaternions | MLS 33-34 | Notes On Algebras | -N/A- | |
| 24 Oct. (W) | Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates, |
MLS 34-39 | -N/A- | ||
| 26 Oct. (F) | Spatial Exponential Coordinates, Intro to screws |
MLS 39-45 MLS 45-50 |
-N/A-
| ||
| 5 |
Spatial Kinematics and Velocities | ||||
| 29 Oct. (M) | Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities |
Using Rodriguez' Displacement Equation, MLS 51-56 |
Homework 3 Instructions on Acquiring Virtual Machine ROS Tutorial Solution 3 | ||
| 31 Oct. (W) | Rigid Body Velocities Continued Intro to Wrenches |
MLS 57-64 | -N/A- | ||
| 2 Nov. (F) | Rigid Body Velocities and Coordinate Transformations | Using Rodriguez' Displacement Equation, MLS 51-56 |
-N/A- | ||
| 6 |
Spatial Kinematics and Velocities | ||||
| 5 Nov. (M) | ROS Tutorial | ROS Tutorial | Python script for ROS Tutorial | ||
| 7 Nov. (W) | Intro to multirotors | -N/A- | |||
| 10 NOV. (F) | Multirotor Equations of Motion | -N/A- | |||
