| Date: | Lecture | Reading | Optional Reading | Homework |
| 01/04/10 | Class Overview and Motivation | Chapter 1 of MLS (pages 1-18) | Introductory Chapter,
(History of Kinematics Through 1900) from Kinematic Synthesis of Linkages by D.S. Hartenberg |
Homework 0 (optional) |
| 01/06/10 | Planar Rigid Body Kinematics | MLS Chapter 2, pages 19-23 | -none- | Homework #1 (due 01/15/10) Solution #1 |
| 01/08/10 | Planar Rigid Body Kinematics | -none- | -none- | -none- |
| 01/11/10 | No Class | -none- | -none- | -none- |
| 01/13/10 | No Class | -none- | -none- | -none- |
| 01/15/10 | Planar Kinematics (cont.) Concepts of Planar Synthesis |
Notes on Elliptical Trammel | Archemides
Trammel (Wikipedia) Polyhedral Linkages Synthesized Using Cardan Motion |
-none- |
| 01/18/10 | Martin Luther King Holiday | -none- | -none- | -none- |
| 01/20/10 | Elliptical Trammel (cont.) Intro to Spherical Kinematics |
Notes on Rotations MLS Pages 22-26 |
-none- | Homework #2 (due 01/29/10) Solution #2 |
| 01/22/10 | Classical Matrix Groups Spherical Kinematics (cont.) |
Notes on Rotations MLS Pages 22-26 |
-none- | -none- |
| 01/25/10 | Kinematics of Rotations (cont.) Cayley's Theorem |
Notes on Rotations MLS Pages 22-26 |
-none- | -none- |
| 01/27/10 | Kinematics of Rotations (cont.) Euler's Theorem |
Notes on Rotations MLS Pages 22-26 |
-none- | -none- |
| 01/29/10 | Kinematics of Rotations (cont.) Euler Angles |
MLS Pages 27-34 | Intro to Algebras | Homework #3 (due 02/05/10) Solution #3 |
| 02/01/10 | Quaternions | MLS Pages 27-34 | Intro to Algebras | -none- |
| 02/03/10 | Quaternions/Spatial Displacements | MLS Pages 27-34 | -none- | -none- |
| 02/05/10 | Spatial Displacements | MLS Pages 34-45 | -none- | -none- |
| 02/08/10 | Rigid Body Velocities | MLS Pages 51-57 Rodriquez Equations for Rigid Body Displacement |
-none- | Homework #4 (due 02/12/10) Solution #4 |
| 02/10/10 | Rigid Body Velocities | MLS Pages 51-57 | -none- | -none- |
| 02/12/10 | Rigid Body Velocities Adjoint Transformations |
MLS Pages 51-57 |
-none- | -none- |
| 02/15/10 | President's Day Holiday | -none- | -none- | -none- |
| 02/17/10 | Wrenches | MLS Pages 57-66 | -none- | -none- |
| 02/19/10 | Wrenches and Reciprocal Screws | MLS Pages 66-69 | -none- | Homework #5 Solution #5 |
| 02/22/10 | Reciprocal Screws | MLS Pages 66-69 | -none- | -none- |
| 02/24/10 | Serial Chaim Linkages | MLS Pages 81-94 | -none- | -none- |
| 02/26/10 | Serial Chaim Linkages | MLS Pages 81-94 | -none- | Homework #6 (due 3/05/10) Solution #6 |
| 03/01/10 | Denavit-Hartenberg Convention | MLS Pages 81-94 | -none- | -none- |
| 03/03/10 | Denavit-Hartenberg Convention Forward Kinematics |
MLS Pages 81-94 | -none- | -none- |
| 03/05/10 | Product of Exponentials approach to Forward Kinematics Inverse Kinematics |
MLS Pages 81-94 | -none- | -none- |