| Date: | Lecture | Reading | Optional Reading | Homework |
| 03/29/10 | manipulator Jacobians | Section 3.4 of MLS (pages 115-121) | -none- |
-none- |
| 03/31/10 | No Class | -none- | -none- | -none- |
| 04/02/10 | Manipulator Jacobians | -none- | -none- | -none- |
| 04/05/10 | Manipulator Jacobians and Forces | Section 4.2 of MLS (pp. 121-123) | -none- | -none- |
| 04/07/10 | Manipulator Singularities | MLS Section 4.3 (pp 123-127) | -none- | -none- |
| 04/09/10 | Intro to Redundant Manipulators |
MLS Section 3.5 (pp. 129-132) | -none- | Homework 1b Solution 1b |
| 04/12/10 | Redundant Manipulators: Resolved Rate | Notes on Moore-Penrose Pseudo-Inverse | -none- | -none- |
| 04/14/10 | Redundant Manipulators | Notes on the "damped" Pseudo-Inverse | -none- | -none- |
| 04/16/10 | Closed Loop Linkages | MLS Sections 3.5.2 and 3.5.3 | -none- | Homework 2b |
| 04/19/10 | Guest Lecture on Passive BiPeds | -none- | -none- | -none- |
| 04/21/10 | Closed Loop Linkages (cont.) Special Configurations |
-none- | -none- | -none- |
| 04/23/10 | Special Configurations Parallel Mechanisms |
MLS pages 138-142 | Review/History of Stewart Platforms | Homework 3b Solution 3b |
| 04/26/10 | Parallel Linkage Delta 3DOF Linkage |
Paper on Delta Mechanism Kinematics and Singularities |
Paper on Descriptive Geometry of the Delta Mechanism |
-none- |
| 04/28/10 | Delta 3DOF Linkage (continued) Intro to Robotic Grasping |
-none- | -none- | -none- |
| 04/28/10 | Introduction to Robotic Grasping | MLS 211-214 | -none- | -none- |
| 04/30/10 | Robotic Grasping: Contact Models | MLS 214-223 | -none- | -none- |
| 05/03/10 | No Class | -none- | -none- | -none- |
| 05/05/10 | No Class | -none- | -none- | -none- |
| 05/07/10 | No Class | -none- | -none- | -none- |
| 05/10/10 | Grasp Contact Models/Grasp Map | -none- | -none- | -none- |
| 05/12/10 | Grasp Map/Force Closure | MLS 223-228 | -none- | Homework #4 Solution #4 |
| 05/14/10 | Force Closure continued | MLS 223-228 | -none- | -none- |
| 05/17/10 | Force Closure continued | MLS 223-228 | -none- | -none- |
| 05/19/10 | Number of fingers | MLS 223-228 | -none- | -none- |
| 05/21/10 | No Class: Ditch Day | MLS 223-228 | -none- | -none- |
| 05/24/10 | No Class | -none- | -none- | -none- |
| 05/26/10 | No Class | -none- | -none- | -none- |
| 05/28/10 | Minimal # of fingers | -none- | -none- | -none- |
| 05/31/10 | Memorial Day Holiday | -none- | -none- | -none- |
| 06/02/10 | Optional: Differential Geometry of Curves | -none- | Notes on Differential Geometry of Curves | -none- |
| 06/04/10 | Optional: Planar Contact Equations | -none- | Notes on Planar Contact Equations | -none- |