Textbook: ``Introduction to Robotics: Mechanics and Control,'' 3rd Ed., by J. J. Craig
| Homework | |||
| Week | Subjects | Reading | Project |
| 1 | Course introduction | Chap. 1 | #1 |
| Mitsubishi RM501 example | |||
| 2 | RM501 command language | 2.1-2.3, 2.6-2.7 | #2 |
| spatial descriptions | 2.9-2.10 | ||
| 3 | Homogeneous transforms: position, rotation, | #3 | |
| inverse, relative transforms, properties | |||
| 4 | Manipulator coordinate systems, | Chap. 3 | #4 |
| Denavit-Hartenburg convention, link | (not 3.6 or | ||
| parameters, direct kinematics | 2nd example of 3.7) | ||
| 5 | Midterm I, inverse kinematics | 4.1, | #5 |
| 4.4 (algebr. sol.), | |||
| 4.7 (PUMA 560), | |||
| 4.8-4.11, App. C | |||
| 6 | DC motor actuators | #6, #P1 | |
| 7 | Hydraulic actuators | #7, #P2 | |
| 8 | Midterm II, simulation | #8 | |
| 9 | Control of actuators | #9, #P3 | |
| 10 | Position & velocity sensing | #10 |
Homework:
1. Mitsubishi RM501 kinematics
2. Mitsubishi RM501 programming
3. Homogeneous transformations
4. Direct kinematics
5. Inverse kinematics
6. DC motor actuators
7. Hydraulic actuators
8. Actuator simulation
9. Control of actuators
10. Position & velocity sensing