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This is the homepage for ME 115(a,b) (Introduction to Kinematic and Robotics) for Winter/Spring 2016. 
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__NOTOC__
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== Course Staff, Hours, Location ==
  
Consult the [//meta.wikimedia.org/wiki/Help:Contents User's Guide] for information on using the wiki software.
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{| border=1 width=100%
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|-
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| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' || '''Email''' || '''Phone'''
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|-
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| '''Instructor'''
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| Joel Burdick
 +
| 245 Gates-Thomas
 +
| TBD
 +
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
 +
| 626-395-4139
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|-
 +
| '''Teach Asst.'''
 +
| Krishna Shankar
 +
| 205 Gates-Thomas
 +
| TBD
 +
| [mailto:krishna@caltech.edu krishna at caltech dot edu]
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| 626-395-????
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|-
 +
| '''Teach Asst.'''
 +
| TBD
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| TBD
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| TBD
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| [mailto:krishna@caltech.edu ??? at caltech dot edu]
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| 626-395-????
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|-
 +
| '''Administrative'''
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| Sonya Lincoln
 +
| 250 Gates-Thomas
 +
| 7:30am-noon; 1:00pm-4:30pm
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| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
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| 626-395-3385
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|}
  
== Getting started ==
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* [//www.mediawiki.org/wiki/Special:MyLanguage/Manual:Configuration_settings Configuration settings list]
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* '''Lecture Schedule:''' The lecture schedule seems to have stabilized. The currently planned lectures will take place at:
* [//www.mediawiki.org/wiki/Special:MyLanguage/Manual:FAQ MediaWiki FAQ]
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** Monday: 9:00 am  - 9:55 am in Gates-Thomas 135
* [https://lists.wikimedia.org/mailman/listinfo/mediawiki-announce MediaWiki release mailing list]
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** Wednesday: 12:00 pm - 12:55 pm in Gates-Thomas 135
* [//www.mediawiki.org/wiki/Special:MyLanguage/Localisation#Translation_resources Localise MediaWiki for your language]
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** Friday:  10:00 am - 10:55 am in Gates-Thomas 135
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 +
== Course Text and References ==
 +
 
 +
The '''main course text''' is: 
 +
* [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. 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 [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.
 +
 
 +
== Announcements ==
 +
* '''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 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://robotic.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> (due Wed. Jan. 20)
 +
 
 +
|-
 +
| 13 Jan (W)
 +
| Example: Ellliptical Trammel, <br> 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/rotation.pdf Notes on Rotations]
 +
 
 +
| -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> Exponential Coordinates Matrix Groups
 +
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
 +
| -N/A-
 +
|-
 +
| 22 Jan (F)
 +
| Euler Angles, Quaternions
 +
| [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)
 +
| 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=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set2.12.pdf Homework 2]
 +
 
 +
|-
 +
| 27 Jan (W)
 +
| Spatial Displacments, <br> Chasle's Theorem
 +
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 35-50]
 +
| -N/A-
 +
|-
 +
| 29 Jan (W)
 +
| Spatial Displacements, <br> Exponential Coordinates
 +
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3]
 +
| -N/A-
 +
 
 +
|-
 +
| align=center rowspan=4 | 5
 +
| colspan=5 |
 +
 
 +
===== Spatial Kinematics =====
 +
|-
 +
| 1 Feb (M)
 +
| Spatial Displacements, <br> Exponential Coordinates
 +
| -N/A-
 +
| -N/A-
 +
| rowspan=3 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set3.12.pdf Homework 3]
 +
 
 +
|-
 +
| 3 Feb (W)
 +
|
 +
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3]
 +
| -N/A-
 +
 
 +
|-
 +
| 5 Feb (F)
 +
| Intro to Rigid Body Velocities
 +
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 51-52]
 +
| -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]; [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/set4.12.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-
 +
 
 +
|-
 +
| align=center rowspan=4 | 7
 +
| colspan=5 |
 +
 
 +
===== Spatial Kinematics: 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 | -N/A-
 +
|-
 +
| 17 Feb (W)
 +
| Wrenches and Poinsot\'s Theorem
 +
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.4-2.5]
 +
| -N/A-
 +
|-
 +
| 19 Feb(F)
 +
| Screws and the Reciprocal Product
 +
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.5]
 +
| -N/A-
 +
|-
 +
| align=center rowspan=4 | 8
 +
| colspan=5 |
 +
 
 +
===== Manipulators =====
 +
|-
 +
| 22 Feb (M)
 +
| '''TBD'''
 +
| -N/A-
 +
| -N/A-
 +
| rowspan=3 align=center | No Homework
 +
 
 +
|-
 +
| 23 Feb (W)
 +
| Manipulator Mechanisms and Lower Pair Joints
 +
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]
 +
| -N/A-
 +
 
 +
|-
 +
| 25 Feb(F)
 +
| 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/set4.12.pdf Homework 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=3 | 10
 +
| colspan=5 |
 +
 
 +
===== Forward/Inverse Kinematics =====
 +
|-
 +
| 7 Mar (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=2 align=center | [http://robotics.caltech.edu/~jwb/courses/ME115/homework/set4.12.pdf Homework 6]
 +
|-
 +
| 9 Mar (W)
 +
| Product of Exponentials Formula
 +
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 3]
 +
| -N/A-
 +
 
 +
|}

Revision as of 14:15, 11 January 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 Email Phone
Instructor Joel Burdick 245 Gates-Thomas TBD jwb at robotics dot caltech dot edu 626-395-4139
Teach Asst. Krishna Shankar 205 Gates-Thomas TBD krishna at caltech dot edu 626-395-????
Teach Asst. TBD TBD TBD ??? 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: The lecture schedule seems to have stabilized. The currently planned lectures will take place at:
    • 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

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.

Announcements

  • 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 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,
(due Wed. Jan. 20)
13 Jan (W) Example: Ellliptical Trammel,
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 Rotations
-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,
Exponential Coordinates Matrix Groups
MLS 27-31 -N/A-
22 Jan (F) Euler Angles, Quaternions MLS 31-34 -N/A-
4
Spherical Kinematics (continued)
25 Jan (M) Quaternions (continued),
Intro to Spatial Kinematics
MLS 34-39 Notes on Algebras Homework 2
27 Jan (W) Spatial Displacments,
Chasle's Theorem
MLS Pages 35-50 -N/A-
29 Jan (W) Spatial Displacements,
Exponential Coordinates
MLS Ch 2.2, 2.3 -N/A-
5
Spatial Kinematics
1 Feb (M) Spatial Displacements,
Exponential Coordinates
-N/A- -N/A- Homework 3
3 Feb (W) MLS Ch 2.2, 2.3 -N/A-
5 Feb (F) Intro to Rigid Body Velocities MLS Pages 51-52 -N/A-
6
Spatial Kinematics
8 Feb (M) Spatial Kinematics: Homogeneous Coordinates and Chasle\'s Theorem MLS Ch 2.3; Rodriguez' Displacement Equation; -N/A- Homework 4
10 Feb (W) Relations among various representations of displacements & motion capture MLS Ch 2.3 -N/A-
12 Feb(F) Motion capture & Rigid Body Velocities MLS Ch 2.4 -N/A-
7
Spatial Kinematics: Wrenches
15 Feb (M) No Class: President's Day Holiday MLS Ch 2.3; -N/A- -N/A-
17 Feb (W) Wrenches and Poinsot\'s Theorem MLS Ch 2.4-2.5 -N/A-
19 Feb(F) Screws and the Reciprocal Product MLS Ch 2.5 -N/A-
8
Manipulators
22 Feb (M) TBD -N/A- -N/A- No Homework
23 Feb (W) Manipulator Mechanisms and Lower Pair Joints MLS Ch 3 -N/A-
25 Feb(F) 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
2 Mar (W) Product of Exponentials Formula MLS Ch 3 -N/A-
4 Mar(F) Inverse Kinematics MLS Ch 3 -N/A-
10
Forward/Inverse Kinematics
7 Mar (M) Denavit-Hartenberg Convention (continued), Examples MLS Ch 3; Rodriguez' Displacement Equation; -N/A- Homework 6
9 Mar (W) Product of Exponentials Formula MLS Ch 3 -N/A-