Intelligent Robotic Systems Labs

Week	Topics	Contents	Lecture Notes
1	Introduction		#1
2	Planar transformations and displacements	2D vectors 2D coordinate systems Planar transformations	#2
3	Planar transformations and displacements	Homogeneous transformations Operators	#3
4	Spatial transformations and displacements	3D vectors, rotations Composition of rotations, transformations Angle-axis	#4
5	Spatial transformations and displacements	Matrix to angle-axis Euler parameters Euler angles	#5
6	Forward kinematics for position	Types of robots, basic DH parameters DH special cases, end and base links	#6
7	Midterm Exam
8	Forward kinematics for position	DH parameters to manipulators Manipulators to DH parameters Forward kinematics, tool transform
9	Inverse kinematics for position	Two-link manipulators, spatial arm Spatial arm with shoulder Wrist solution, 6-DOF manipulator
10	Trajectory planning	Polynomial and LSPB trajectories Cartesian trajectory planning: position
11	Velocity and acceleration	Time derivatives of rotation matrices Euler angle rates spatial motion of objects
12	Velocity and acceleration	Joint-constrained motion Velocity Jacobians Acceleration Inverse kinematic velocities
13	Statics	Forces and torques Center of mass 1D and 2D manipulator force and torque
14	Dynamics	3D manipulator force and torque; Momentum, inertia Properties of the inertia matrix Newton-Euler equations 1D, 2D, and 3D manipulator dynamics
15	Final Exam