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Note: This syllabus will be modified continuously to accommodate the progress and interests of the course participants!
| Date | Topic | Assignments |
| Jan. 11 | Introduction | S&S: Chapter 1 |
| Jan. 13 | Matrix Algebra Refresher | S&S: Appendix A |
| Jan. 20 | Basic Linear Control Theory I | Book Chapters |
| Jan. 25 | Frequency Domain Analysis, Introduction to Matlab/Simulink | Book Chapter,
Matlab/Simulink Introduction |
| Jan. 27 | Basic Linear Control Theory II | Book Chapter Homework 1 |
| Feb. 1 | Case Study I: Stabilization of an Artificial Eye System | Manual for robot simulator |
| Feb. 3 | Coordinate Transformations | S&S: Chapter 2.1-2.7 |
| Feb. 8 | Direct Kinematics | S&S: Chapter 2.7-2.10 ,
|
| Feb. 10 | Inverse Kinematics | S&S: Chapter 2.11, 3.1-3.7,
|
| Feb. 17 | Dynamics: Lagrangian Formulation | S&S: Chapter 4.1-4.4, |
| Feb. 22 | Dynamics: Newton-Euler Formulation and SoftwareTools | S&S: Chapter 4.5-4.8 |
| Feb. 24 | Nonlinear Control | S&S: Chapter 6 |
| Mar. 1 | Trajectory Planning | S&S: Chapter 5 |
| Mar. 3 | Force Control | S&S: Chapter 7
Homework 2 |
| Mar. 8 | Sensors & Actuators, Filtering | S&S: Chapter 8 |
| Mar. 10 | Adaptive Control | |
| Mar. 15 | Spring Break | |
| Mar. 17 | Spring Break | |
| Mar. 22 | TBA | |
| March 24 | Introduction to Real-Time Control with Xenomai | WindriverSystems Handout |
| March 29 | Case Study: Gravity Compensation of a 7 DOF Robot Arm - Theory | Manual for programming the robot
Homework 3 |
| March 31 | Optimal Control | |
| April 5 | Kalman Filtering | Handout, More info on Kalman Filtering |
| April 7 | Case Study: Gravity Compensation of a 7 DOF Robot Arm - Implementation | TAR Archive with Robot Simulator |
| April 12 | Projects/Labs Preparation (no class) | Return Homework 3 in RTH 417
Homework 4 |
| April 14 | Q&A for Lab/Project Assignment, Review of Class for Final Quiz Preparation, Videos of cool robot research | continue work on Real Robot Lab |
| April 19 | TBA | |
| April 21 | Labs/ Projects Presentation (no class) | |
| April 23 | Q&A for Final Quiz Preparation | |
| April 28 | 2-3pm SSL 150 Final Quiz (closed book, all material of the course) | |
