Teacher: Frank van der Stappen
email: A.F.vanderStappen@uu.nl
office: Buys Ballotgebouw 4.22
Parts of Chapters 1, 2, 3, 4, 5, 6, 13, and 15 of the book Theory of Applied Robotics by Reza N. Jazar (which can be read online at Utrecht University), parts of Chapters 2, 3, 4, 5, and 7 of the book Mechanics of Robotic Manipulation by Matthew T. Mason, parts of Chapters 1 and 2 from the no longer available book Fundamentals of Robotics: Analysis and Control by Robert J. Schilling, and parts of Chapters 3 and 4 from the book Collision Detection in Interactive 3D Environments by Gino van den Bergen. These chapters are supplemented by slides and class-room notes. Copies of the relevant pages of the book by Schilling are available for reference, and copies of the relevant pages of the book by Van den Bergen are also available for reference
The second individual homework exercise considers relevant notions in configuration space. The exercise will be distributed on Friday October 12. The deadline for handing in the solutions is Wednesday October 17 at 15:15.
Date | Time | Material | Slides (pdf) |
Fri Sep 7 | 13:15-15:00 |
introduction and organization:: no textbook material |
introductory slides |
Wed Sep 12 | 15:15-17:00 |
robotics esstentials: no textbook material calculus: linear algebra: no textbook material |
robotics slides calculus slides |
Fri Sep 14 | 13:15-15:00 |
calculus: functions: no textbook material geometric modeling: J: Section 1.1, 1.2, 1.3 + notes on modeling | geometric modeling slides |
Wed Sep 19 | 15:15-17:00 |
rotation kinematics: S: Section 2.1, 2.2, 2.3; J: Section 2.1, 2.2, 2.3, 2.4, 2.5, 2.6, 2.7, 2.8, 2.9 | kinematics slides: rotations |
Fri Sep 21 | 13:15-15:00 |
orientation kinematics: J: Section 3.1, 3.2, 3.3, 3,4 | kinematics slides: orientations |
Wed Sep 26 | 15:15-17:00 |
rigid transformations: S: Section 2.4; J: Section 4.1, 4.2, 4.3, 4.4 | kinematics slides: rigid transformations |
Fri Sep 28 | 13:15-15:00 |
forward kinematics: S: Section 2.5, 2.6, 2.7, 2.8; J: Section 5.1, 5.2, 5.3 |
forward kinematics slides forward kinematics slides: example arm forward kinematics slides: branches and cycles |
Wed Oct 3 | 15:15-17:00 |
inverse kinematics: J: Section 6.1 | inverse kinematics slides |
Fri Oct 5 | 13:15-15:00 |
inverse kinematics: J: Section 6.2, 6.3 | (see inverse kinematics slides above) |
Wed Oct 10 | 15:15-17:00 |
trajectory generation: J: Section 13.1, 13.2, 13.3, 13.4 control and sensing: J: Section 15.1, 15.3, 15.4 |
trajectory generation slides control slides |
Fri Oct 12 | 13:15-15:00 |
configuration spaces and obstacles: no textbook material | configuration space slides |
Wed Oct 17 | 15:15-17:00 |
collision detection: narrow phase: B: Section 3.3, 4.1, 4.2, 4.3 collision detection: broad phase: no textbook material | collision detection slides |
Fri Oct 19 | 13:15-15:00 |
form closure grasps and caging: M: Sections 2.1, 2.2, 2.3, 2.4, 2.6, 5.6 | form closure and caging slides |
Wed Oct 24 | 15:15-17:00 |
force closure grasps: J: Sections 4.8, 4.9; M: Sections 3.2, 3.3, 5.1, 5.2, 5.3, 5,7 | force closure slides |
Fri Oct 26 | 13:15-15:00 |
non-prehensile manipulation: M: Section 7.4 | manipulation slides |
Wed Oct 31 | 15:15-17:00 | solutions to example exam | |
Fri Nov 2 | 13:15-15:00 | no lecture! | - |
J = Theory of Applied Robotics by Reza N. Jazar,
M = Mechanics of Robotic Manipulation by Matthew T. Mason,
S = Fundamentals of Robotics: Analysis and Control by Robert J. Schilling,
B = Collision Detection in Interactive 3D Environments by Gino van den Bergen.