Classes

Instructor

Jacob Rosen
Office: Engineering 2 Building, Room 231
Voice Office: 831.459.5302
e-mail: rosen@ucsc.edu
Office Hours: Wed 2:00-3:00

CMPE 215

Models of Robotic Manipulation

Course Summary: Mathematical models of arbitrary articulated robotic as well as biological arms and their application to realistic arms and tasks, including the homogeneous coordinate model of positioning tasks, the forward and inverse kinematics models, the Jacobian Matrix,and the recursive Newton-Euler dynamic model.

Prerequisite: linear algebra and graduate standing or permission of instructor

Assignments & Grading:
Problem Sets 25%
Mid Term (Take Home) 25%
Final Exam (Take Home) 50%

Textbook: John Craig, Introduction to Robotics: Mechanism & Control, 3ed Edition, Addison Wesley 2003

Class Notes

Class 01: Class 01A: Introduction & Basic Ideas
Class 02: Class 02A: Special Description & Transformation
Class Supplement: Equivalent angle axis vector
Class 03: Class 03A: Direct Manipulator Kinematics (1/3)
Class 04: Class 04A: Direct Manipulator Kinematics (2/3)
Class 05: Class 05A: Direct Manipulator Kinematics (3/3)
Class 06: Class 06A: Inverse Manipulator Kinematics (1/4)
Class 07: Class 07A: Inverse Manipulator Kinematics (2/4)
Class 08: Class 08A: Inverse Manipulator Kinematics (3/4)
Class 09: Class 09A: Inverse Manipulator Kinematics (4/4)
Class 10: Class 10A: Jacobian: Velocities and Forces (1/4)
Class 11: Class 11A: Linear and Angular Velocities (2/4)
Class 12: Class 12A: Velocity propagation (3/4)
Class 13: Class 13A: Jacobian: Velocity propagation (4/4)
Class 14: Class 14A: Manipulator Mechanical Design
Class 15: Class 15A: Manipulator Dynamics (1/3)
Class 16: Class 16A: Manipulator Dynamics (2/3)
Class 17: Class 17A: Manipulator Dynamics (3/3)
Class 18: Class 18A: Trajectory Generation

Autolev

Class Notes: Introduction to Autolev