Table of Contents
Progression of Course Material
Reading
Text Books
The official textbook is:
- [C] Craig. Introduction to Robotics: Mechanics and Control.
One alternative is:
- [SHV] Spong, Hutchinson, Vidyasagar. Robot Modeling and Control.
There are a couple of books available online. The first is a bit more abstract, while the second is more suited to the course material,
- [LP] Lynch and Park. Modern Robotics: Mechanics, Planning, and Control; online.
- [Co] Corke. Robotics, Vision, and Control: Fundamental Algorithms in MATLAB; GT Library
The time line below will reference the books based on the abbreviation using the authors' initials. You need only really reference one of the books. The equivalent material for each book is provided in the Reading column, as applicable. The alignment with lecture is not 100% for any of them, but gets close.
Lecture Notes
Also, as perthe main wiki page, there are scanned lecture notes. The last column references the scanned pdf documents available in the lecture notes page. The [PX_YY] abbreviation refers to my 2005 notes, while [PX_WYY] refers to the student scanned 2007 notes. Additional notes available as individual links in the lecture notes wiki are directly linked from the Notes column.
Time Line
| Theory | Application | Reading | Notes | |
|---|---|---|---|---|
| Week 01 | Syllabus | Matlab Basics | LP 3.0-3.1; C 2.1-2.3 | P1_01 |
| Rigid Bodies and Frames | SHV 2.1, 2.2.1, 2.4, 2.6 | P1_W01 | ||
| Week 02 | $SE(2)$, Homogeneous Representation | Matlab Classes | LP 3.3.1, only $SE(2)$ | P1_01 |
| Frames vs Displacements | C 2.3, 2.6; SHV 2.4, 2.7 | P1_W02 | ||
| Transformations | T02-1 + T02-2 | |||
| Week 03 | Lie Groups | Matlab Classes (ctd) | LP 3.2.1, 3.3.1 | P1_02 |
| Displacements (ctd) | C 2.6, 3.5 | P1_W02 | ||
| Kinematic Chains | SHV 2.6, 2.7, 3.1 | |||
| Adjoint Operation | ||||
| Week 04 | Kinematic Chains | Matlab | P1_03 | |
| Vectors and Frames | P1_W03 | |||
| Velocities / $\mathfrak{se}(2)$ | ||||
| Week 05 | $SO(3)$, $SE(3)$ & Representations | Matlab | P1_03 | |
| Velocities / $\mathfrak{so}(3)$, $\mathfrak{se}(3)$ | Planar Manipulator | C 3.2, LP 3.2 - 3.3 | P1_W04+P1_W05 | |
| Week 06 | Exponential Operation | Matlab | LP 3.2.3, 3.3 | P1_03 |
| Logarithm Operation | Planar Manipulator | P1_W04+P1_W05 | ||
| Spatial Manipulator | ||||
| Week 07 | Forward/Inverse Kinematics | Planar Manipulator | C 7.1-7.2, LP 4.1 | |
| Manipulator Workspace | Spatial Manipulator | LP 2.5 | ||
| Week 09 | Inverse Kinematics | Planar Manipulator | LP 6.1 & B.1 | |
| Week 10 | Trajectory Generation (Splines) | Planar Manipulator | C 3.1, LP 9.1-9.3 | |
| Spatial Manipulator | LP 9.3 | |||
| Week 11 | Manipulator Jacobian | Planar Manipulator | ||
| Spatial Manipulator | LP 5.1 | |||
| Week 12 | Resolved Rate Trajectory Generation | Planar Manipulator | LP 6.2-6.3 | |
| Spatial Manipulator | C 8.2-8.3 | |||
| Week 13 | Pseudo-Inverses | Planar Manipulator | C 8.1-8.2 | |
| Spatial Manipulator | ||||
| Week 14 | Wrenches / Generalized Forces | Spatial Manipulator | LP 3.4 | |
| Manipulator Jacobian and Wrenches | C 8.3 | |||
| Week 15 | Close-Out Topics | |||