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====== ECE4560 Lecture Notes ======
------------------------------

Since I haven't had time to latex up my evolving lectures, the next best thing would be to provide the source notes that are used to generate them.  There are two versions here,
  - {{ECE4560:lectures:ECE4560_Lectures_2005.zip|Original notes}} from 2005.
  - {{ECE4560:lectures:ECE4560_Lectures_2007.zip|Student notes}} from 2007 (recommended).


Here are some additional notes created after the original set.
  - {{ECE4560:lectures:ECE4580_T02_Coordinates_Transformation.pdf|Coordinates systems}} and reference frames.
  - {{ECE4560:lectures:ECE4580_T02_Coordinates_PlanarFrames.pdf|Planar reference frames}}.
  - {{ECE4560:lectures:ECE4560_T06_SO3_ExpLog.pdf| Exp and Log}} for $SO(3)$ and $\mathfrak{so}(3)$

==== Lecture Slides ====

  - {{ECE4560:slides:ECE4560_W03_LieGroups.pptx | Rigid Bodies }} - Basic principles leading to mathematical representations for rigid bodies.
  - {{ECE4560:slides:ECE4560_W03_LieGroups.pptx | Lie Groups }} - Matrix versions used in Robotics.
  - {{ECE4560:slides:ECE4560_W10_TrajectoryGeneration.pptx | Trajectory Generation w/Splines}} - Setting up and solving for the polynomial coefficients.
  - {{ECE4560:slides:ECE4560_W11_ManipulatorJacobian.pptx | Manipulator Jacobian}} - Example cases with computed manipulator Jacobians.


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