| Course Instructor: | Joel Burdick | Room 245 Gates-Thomas | (626) 395-4139 | jwb@robotics.caltech.edu |
| Teaching Assistant: | Krishna Shankar | 205 Gates Thomas | krishna@caltech.edu | |
| Teaching Assistant: | TBD | |||
| Administrative: | Ms. Sonya Lincoln | Room 218 Gates-Thomas | (626) 395-3385 | lincolns@caltech.edu |
| Date: | Lecture | Reading | Optional Reading | Homework |
| 01/04/16 | 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- |
| 01/06/16 | Planar Rigid Body Kinematics displacements |
MLS Chapter 2, pages 19-23 | -none- | -none- |
| 01/08/16 | 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- |
| 01/11/16 | 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 on the subject of Denavit-Hartenburg parameters
| 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 |