Patricio Vela: Course Wiki

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====== 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,

  - [MLS] Murray, Li, and Sasty. __A Mathematical Introduction to Robotics__; [[http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page | online]] - [[https://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf | pdf]].
  - [LP] Lynch and Park. __Modern Robotics: Mechanics, Planning, and Control__; [[http://modernrobotics.org|online]].
  - [Co] Corke. __Robotics, Vision, and Control: Fundamental Algorithms in MATLAB__; [[https://gatech-primo.hosted.exlibrisgroup.com/primo-explore/fulldisplay?docid=01GALI_GIT_ALMA51251175390002947&context=L&vid=01GALI_GIT&lang=en_US&search_scope=Everything&adaptor=Local%20Search%20Engine&tab=default_tab&query=any,contains,%20Robotics,%20Vision%20and%20Control&sortby=rank | 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 [[ece4560:lectures|lecture notes]].
The last column references the scanned pdf documents available in the [[ece4560:lectures|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  |  :::   |  ::: |  {{ECE4560:lectures:ECE4580_T02_Coordinates_Transformation.pdf|T02-1}} + {{ECE4560:lectures:ECE4580_T02_Coordinates_PlanarFrames.pdf|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     |       |     |
| :::     |  :::  |  :::  | ::: |
||||

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