| Course Instructor: | Joel Burdick | Room 205 Keck | (626) 395-4139 | jwb@robotics.caltech.edu |
| Teaching Assistant: | Krishna Shankar | Room 218 Keck | krishna@caltech.edu | |
| Administrative: | Mrs. Maria Koeper | Room 207 Keck | (626) 395-3385 | mkoeper@caltech.edu |
05/19/14: Handout on the Differential Geometry of Surfaces
05/16/14: Handout on the Planar Contact Equations
05/14/14: Handout on the Differential Geometry of Curves
04/07/14: Starting on Wed. April 9, the course will be help in 33 Baxter (so that we can use an LCD projector)
| Date: | Lecture | Reading | Optional Reading | Homework |
| 03/31/14 | Closed Loop Linkages ( continued) Structure Equations |
MLS Chapter 3, pages 132-138 | -none- | -none- |
| 04/02/14 | Closed Loop Linkages (continued) Special Configurations |
MLS Chapter 3, pages 132-138 | -none- | -none- |
| 04/04/14 | Parallel Mechanisms Structure Equations and Mobility |
MLS Chapter 3, pages 132-142 | -none- | Homework 1b |
| 04/07/14 | Parallel Mechanisms (continued ) Actuator and Kinematic Singularities |
MLS Chapter 3, pages 138-142 | -none- | -none- |
| 04/09/14 | Parallel Mechanisms: the Delta Robot | -none- | Adept Quattro Robot | -none- |
| 04/11/14 | Redundant Robots: resolved rate ideas | -none- | -none- | -none- |
| 04/14/14 | Redundant Robots Moore Penrose Pseudo-inverse |
Notes on the Moore-Penrose PseudoInverse | -none- | -none- |
| 04/16/14 | Redundant Robots Redundancy Resolution |
Notes on the Moore-Penrose PseudoInverse | -none- | Homework #2 (Due 4/23/15) |
| 04/18/14 | Redundant Robots Obstacle Avoidance, Damped Pseudo-Inverse |
Notes on the Moore-Penrose PseudoInverse | -none- | -none- |
| 04/21/14 | Class Cancelled | -none- | -none- | -none- |
| 04/23/14 | Damped Pseudo Inverse & Intro to Robotic Grasping |
Notes on the Damped Pseudo-Inverse | -none- | -none- |
| 04/25/14 | Multi-Fingered Robot Grasping Contact Models |
Chapt 5, MLS: pages 211-218 | -none- | Homework #3 due 5/2/14 |
| 04/28/14 | Multi-Fingered Robot Grasping Contact Models, Grasp Map |
Chapt 5, MLS: pages 218-222 | -none- | -none- |
| 04/30/14 | Multi-Fingered Robot Grasping Force Closure |
Chapt 5, MLS: pages 223-229 | -none- | -none- |
| 05/02/14 | Multi-Fingered Robot Grasping Force Closure |
-none- | -none- | -none- |
| 05/05/14 | Multi-Fingered Robot Grasping Bounds on Number of Fingers |
-none- | -none- | -none- |
| 05/07/14 | Multi-Fingered Robot Grasping |
-none- | -none- | Homework #4 due 05/14/14 |
02/24/14: TA Office Hours! : Thursday night (Mar 6th), from 7-9 PM, Krishna will hold office hours in Sherman Fairchild 326.
03/03/14: Final Project Guidelines
02/28/14: Handout : This is a scan from John H. Craig's Introduction to Robotics, that presents Denavit Hartenberg Parameters very clearly and with pleasant conventions. Examples from class were done using this approach.
02/24/14: TA Office Hours! : Thursday night (Feb 27th), from 7-9 PM, Krishna will hold office hours in Sherman Fairchild 326.
02/24/14: Note that Problem 1 in Homework #4 has been shortened, since part of the originally assigned Problem 1 has been covered in the previous homework.
02/24/14: A make-up class will take place today (Mon. Feb. 24) at 3:00 pm in Thomas 206 (the normal class lecture location)
02/10/14:
TA Office Hours! : Thursday night (Feb 13th), from 8-10 PM, Krishna will hold office hours in Sherman Fairchild 220.
Notes : Notes from material covered today are available here .
Homework 3: Homework 3 was handed out last friday, and is also available here. It is due Friday Feb 14th.
01/31/14: TA Office hours!: Sunday night (Feb. 2) from 7-9 pm, Krishna will hold office hours in the Sherman Fairchild Conference Room. Stop by if you have questions about the homework.
01/22/14: TA Office hours!: Thursday night (Jan. 23) from 7-9 pm, Krishna will hold office hours in Sherman Fairchild 326. Stop by if you have questions about the homework.
01/10/14: The course meeting time has changed again . The new meeting time is set to Mondays (8:05pm-9:30 pm) and Fridays (11:30 am-12:55 pm). The meeting rom is 206 Thomas .
01/07/14: The course meeting time and location has changed . The new meeting time is tentatively set to Mondays (noon-12:55 pm) and Fridays (11:00 am-12:55 pm). The new meeting rom is 206 Thomas . Note, as the class enrollment settles down, we will vote again to find a better time.
| Date: | Lecture | Reading | Optional Reading | Homework |
| 01/07/14 | Class Overview and Motivation | Chapter 1 of MLS (pages 1-18) | History of Kinematics Through 1900
(Introductory chapter from Kinematic Synthesis of Linkages by D.S. Hartenberg) |
-none- |
| 01/10/14 | Planar Rigid Body Kinematics displacements |
MLS Chapter 2, pages 19-23 | -none- | -none- |
| 01/13/14 | Planar Rigid Body Kinematics (continued) Displacement Groups & Poles |
Notes on Elliptical Trammel | Archemides Trammel (Wikipedia) Polyhedral Linkages Synthesized Using Cardan Motion Along Radial Lines |
-none- |
| 01/17/14 | Intro to Spherical Kinematics Classic Matrix Groups |
MLS Pages 22-26 Notes on the Classical Matrix Groups Notes on Rotations |
-none- | Homework #1 (due 01/24/14) Solution #1 |
| 01/20/14 | No Class (MLK holiday) | -none- | -none- | -none- |
| 01/24/14 | Spherical Kinematics (continued) Cayley's Theorem |
Notes on Rotations MLS Pages 22-26 |
-none- | -none- |
| 01/27/14 | Kinematics of Rotations (cont.) Euler's Theorem, Exponential Coordinates |
Notes on Rotations MLS Pages 27-31 |
-none- | Homework #2 (due 02/03/14) Solution #2 |
| 01/31/14 | Kinematics of Rotations (cont.) Euler Angles, Quaternions |
MLS Pages 31-34 | Intro to Algebras | -none- |
| 02/03/14 | Quaternions (continued) Intro to Spatial Kinematics |
MLS Pages 31-34; MLS 34-39; | -none- | -none- |
| 02/07/14 | Spatial Displacements: Chasle's Theorem, Screw Coordinates |
MLS Pages 35-50 | -none- | Homework #3 (Due 02/14/14) Solution #3 |
| 02/07/14 | Spatial Displacements: Exponential Coordinates Intro to Rigid Body Velocities |
MLS Pages 35-50; MLS Pages 51-52 | -none- | -none- |
| 02/10/14 | Rigid Body Velocities | MLS Pages 52-58 | -none- | -none- |
| 02/10/14 | Rigid Body Velocities | MLS Pages 52-58 | -none- | -none- |
| 02/14/14 | Review of Rigid Body Velocities | MLS Pages 52-58 | -none- | -none- |
| 02/17/14 | No Class: President's Day Holiday | -none- | -none- | -none- |
| 02/21/14 | Velocity Transformations and Wrenches | MLS Pages 58-66 | -none- | -none- |
| 02/24/14 | ( Make Up Class ) Serial Chain Mechanisms | MLS Pages 81-83 | Wikipedia Page on
Denavit-Hartenberg Parameters (the styles used in MLS) Denavit Hartenberg Parameters Scanned from Introduction to Robotics by Craig. |
Homework #4 (due Fri. 02/28/14) Solution #4 |
| 02/28/14 | Product of Exponentials Intro to Inverse Kinematics |
MLS Pages 58-66 | -none- | Homework #5 (due Fri. 03/07/14) Solution #5 |
| 03/03/14 | Inverse Kinemaics (continued) The Elbow Manipulator example |
MLS Pages 58-66 | -none- | -none- | This is a scan from John H. Craig's Introduction to Robotics, th