Calendar

Week 1

August 25
Syllabus + Introduction
August 27
1 - Planar Kinematics

Week 2

September 1
2 - Coordinate Frames & Rotations
September 3
3 - Transformations
September 4
HW 1 due

Week 3

September 8
4 - Homogeneous Coordinates
September 10
5 - Velocity of a Rigid Body
September 11
HW 2 due

Week 4

September 15
6 - Exponential Representation of Rotations
September 17
7 - Exponential Representation of Motion
September 18
HW 3 due

Week 5

September 22
8 - Velocity of a Screw Motion
September 24
9 - Review
September 25
HW 4 due

Week 6

September 29
Midterm 1 Exam
October 1
10 - Manipulators & Manipulator Analysis

Week 7

October 6
No Class - Fall Break
October 8
11 - Forward Kinematics
October 9
HW 5 due

Week 8

October 13
12 - Inverse Kinematics 1
October 15
13 - Inverse Kinematics 2
October 16
HW 6 due

Week 9

October 20
14 - Manipulator Jacobian 1
October 22
15 - Manipulator Jacobian 2
October 23
HW 7 due

Week 10

October 27
16 - Review
October 29
Midterm 2 Exam

Week 11

November 3
17 - Jacobians and Singularity Analysis
November 5
18 - Trajectory Design 1

Week 12

November 10
19 - Trajectory Design 2
November 12
20 - Trajectory Design 3
November 13
HW 8 due

Week 13

November 17
21 - Trajectory Design 4
November 19
22 - Wrenches and Forces
November 20
HW 9 due

Week 14

November 24
23 - Introduction to Control
November 26
No Class - November Break

Week 15

December 1
Group Projects
December 3
Group Projects
December 4
HW 10 due

Week 16

December 8
Final Exam Review
December 10 (6-8:50pm)
Final Exam

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