Teacher: Frank van der Stappen
email: A.F.vanderStappen@uu.nl
office: Buys Ballotgebouw 4.22
November 16: All grades are now available here!
October 31: Example exam is available.
October 25: The second homework exercise is available.
October 19: Details added on how to submit an accompanying video showing the results of the practical exercise.
September 30: The practical exercise is available.
September 16: The first homework exercise is available.
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
Date | Time | Material | Slides (pdf) |
Fri Sep 9 | 13:15-15:00 |
introduction and organization:: no textbook material robotics esstentials: no textbook material |
introductory slides robotics slides |
Wed Sep 14 | 15:15-17:00 |
calculus: linear algebra: no textbook material |
calculus slides |
Fri Sep 16 | 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 21 | 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 23 | 13:15-15:00 |
orientation kinematics: J: Section 3.1, 3.2, 3.3, 3,4 | kinematics slides: orientations |
Wed Sep 28 | 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 30 | 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 5 | 15:15-17:00 |
inverse kinematics: J: Section 6.1 | inverse kinematics slides |
Fri Oct 7 | 13:15-15:00 |
inverse kinematics: J: Section 6.2, 6.3 | - |
Wed Oct 12 | 15:15-17:00 | No lecture! | - |
Fri Oct 14 | 13:15-15:00 |
Lecture by Ioannis Nemparis 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 |
Wed Oct 19 | 15:15-17:00 |
configuration spaces and obstacles: no textbook material | configuration space slides |
Fri Oct 21 | 13:15-15:00 |
collision detection: narrow phase: B: Section 3.3, 4.1, 4.2, 4.3 collision detection: broad phase: no textbook material | collision detection slides |
Wed Oct 26 | 15:15-17:00 |
form closure grasps and caging: M: Sections 2.1, 2.2, 2.3, 2.4, 2.6, 5.6 | form closure and caging slides |
Fri Oct 28 | 13:15-15:00 |
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 |
Wed Nov 2 | 15:15-17:00 |
pushing and squeezing: M: Section 7.4 | manipulation slides |
Fri Nov 4 | 13:15-15:00 | conclusion | - |
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.