These lecture notes are to help you, they are not intended to replace the need for you to take notes yourself.
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notes for any given lecture may be posted late or never
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notes may be very sparse outlines of the material covered in class
notes may use notation that is not consistent with the book
notes may have mispellings, typos, and outright errors
you are responsible for all topics covered in the assigned book chapters, even if they do not appear in the notes.
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Date |
Topic |
Book Chapters |
HW |
Labs |
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Tue |
8/25/09 |
Overview + |
1.1 - 1.4 |
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Thu |
8/27/09 |
2.1 - 2.2 |
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Tue |
9/1/09 |
2.4 - 2.5 |
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Thu |
9/3/09 |
Compositions Cont. and Homogeneous Representations |
2.3, 2.6, 2.7 |
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Lab 1 assigned |
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Tue |
9/8/09 |
Sai will present a review of Homogeneous Coordinates (notes given here and will go through problem 2.39 from the book Howie will go through Basic Displacements (old 4+5) |
2.6 2.7 |
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Thu |
9/10/09 |
Denavit-Hartenberg(Presentation, PDF Notes) |
3.1-3.2 |
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Tue |
9/15/09 |
Denavit-Hartenberg |
3.1-3.2 |
PS 1 due |
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Thu |
9/17/09 |
3.1-3.2 |
Lab 1 due Lab 2 assigned |
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Tue |
9/22/09 |
NO CLASS |
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Thu |
9/24/09 |
3.3-3.4 |
PS 2 due
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Tue |
9/29/09 |
3.3-3.4 | |||
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Thu |
10/1/09 |
SCARA, Puma inverse kinematics | 3.3-3.4 | PS 3 assigned | |
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Tue |
10/6/09 |
4.1-4.5 |
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Thu |
10/8/09 |
4.1-4.5 |
PS 3 due |
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Tue |
10/13/09 |
Lab 2 Demos |
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Lab 2 due |
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Thu |
10/15/09 |
PS4 due | |||
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Tue |
10/20/09 |
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Thu |
10/22/09 |
Midterm Solutions | |||
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Tue |
10/27/09 |
Jacobians in SE3 Presentation |
4.6, 4.9 |
PS 5 assigned |
Lab 3 assigned |
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Thu |
10/29/09 |
Inverse Velocity Kinematics + Singularities Intuitive Jacob. Present,
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4.10, 4.12 |
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Tue |
11/3/09 |
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4.11-4.14 |
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Thu |
11/5/09 |
Pseudo Inverse and Manipubility.+ Statics: Forces and Torques |
Statics:
Forces and
Torques
4.11-4.14 |
PS 5 due PS 6 assigned |
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Tue |
11/10/09 |
7.1-7.3 |
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Thu |
11/12/09 |
7.2-7.3 |
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Tue |
11/17/09 |
Equations of Motion - Numerical Integration and Friction | 7.2-7.3 |
PS 6 due
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Thu |
11/19/09 |
Lagrangian Dynamics(3D) |
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PS 7 assigned |
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Tue |
11/24/09 |
Lagrangian Dynamics(3D) Cont. |
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Thu |
11/26/09 |
No Class (Thanksgiving) |
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Tue |
12/1/09 |
Lab 3 Demos |
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PS 7 due |
Lab 3 due |
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Thu |
12/3/09 |
Final Review |
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Mon |
12/7 |
Final Exam - 5:30pm - 8:30pm |
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