Calendar
Week 1
- Aug 19
- Syllabus + Introduction
- Aug 21
- 1 - Planar Kinematics
Week 2
- Aug 26
- 2 - Rotation Matrices
- Aug 28
- 3 - Transformations
- Aug 29
- HW1 1 due
Week 3
- September 2
- 4 - Homogeneous Coordinates
- September 4
- 5 - Introduction to Velocity
- September 5
- HW1 2 due
Week 4
- September 9
- Guest Lecture on Robotics
- September 11
- 6 - Angular Velocity and Twists
- September 12
- HW1 3 due
Week 5
- September 16
- 7 - Velocity Overview
- September 18
- 8 - Exponential Representation of Rotations
- September 19
- HW1 4 due
Week 6
- September 23
- 9 - Exponential Representation of Motion
- September 25
- 10 - Midterm Review
- September 26
- HW1 5 due
Week 7
- September 30
- Midterm Exam
- October 2
- 11 - Introduction to Manipulators
Week 8
- October 7
- No Class - Fall Break
- October 9
- 12 - Forward Kinematics
- October 10
- HW1 6 due
Week 9
- October 14
- 13 - Inverse Kinematics 1
- October 16
- 14 - Inverse Kinematics 2
Week 10
- October 21
- 15 - Manipulator Jacobian 1
- October 23
- 16 - Manipulator Jacobian 2
- October 24
- HW1 7 due
Week 11
- October 28
- 17 - Jacobians and Singularity Analysis
- October 30
- 18 - Trajectory Design 1
- October 31
- HW1 8 due
Week 12
- November 4
- 19 - Trajectory Design 2
- November 6
- 20 - Trajectory Design 3
- November 7
- HW1 9 due
Week 13
- November 11
- 21 - Trajectory Design 4
- November 13
- 22 - Wrenches and Forces
Week 14
- November 18
- 23 - Introduction to Control
- November 20
- Presentation Day 1
Week 15
- November 25
- Presentation Day 2
- November 27
- No Class - November Break
Week 16
- December 2
- 24 - Final Review
- HW1 10 due
- December 4 (6-8:50pm)
- Final Exam
Old Lectures
A complete list of the old semester lectures can be found below.