| Date | Topic | Assignments |
| Jan. 10 | Introduction | S&S: Chapter 1 |
| Jan. 12 | Matrix Algebra Refresher | S&S: Appendix A |
| Jan. 19 | Basic Linear Control Theory I | Book Chapters |
| Jan. 24 | Frequency Domain Analysis, Introduction to Matlab/Simulink | Book Chapter,
Matlab/Simulink Introduction |
| Jan. 26 | Basic Linear Control Theory II | Book Chapter |
| Jan. 31 | Case Study I: Stabilization of an Artificial Eye System | Manual for robot simulator |
| Feb. 2 | Coordinate Transformations | S&S: Chapter 2.1-2.7,
Homework 1 |
| Feb. 7 | Introduction to the Robotics Operating System (ROS) | |
| Feb. 9 | canceled | |
| Feb. 14 | Direct Kinematics | S&S: Chapter 2.7-2.10 ,
|
| Feb. 16 | Inverse Kinematics | S&S: Chapter 2.11, 3.1-3.7,
|
| Feb. 23 | Dynamics: Lagrangian Formulation | S&S: Chapter 4.1-4.4, |
| Feb. 28 | Dynamics: Newton-Euler Formulation and SoftwareTools | S&S: Chapter 4.5-4.8 |
| Mar. 2 | Nonlinear Control | S&S: Chapter 6 |
| Mar. 7 | Trajectory Planning | S&S: Chapter 5
Homework 2 |
| Mar. 9 | Force Control | S&S: Chapter 7 |
| Mar. 14 | Spring Break | |
| Mar. 16 | Spring Break | |
| Mar. 21 | Sensors & Actuators, Filtering | S&S: Chapter 8 |
| Mar. 23 | Optimal Control | |
| Mar. 28 | Kalman Filtering | Handout, More info on Kalman Filtering |
| Mar. 30 | Adaptive Control | |
| April. 4 | Introduction to Real-Time Control with Xenomai,
Case Study: Gravity Compensation of a 7 DOF Robot Arm - Theory | WindriverSystems Handout,
Manual for programming the robot
Homework 3 |
| April 6 | Case Study: Gravity Compensation of a 7 DOF Robot Arm - Implementation, Discussion of Robot Project | TAR Archive with Robot Simulator,
Homework 4 |
| April 11 | Labs/ Projects Preparation (no class) | |
| April 13 | Questions and Answer Section concerning Project | |
| April 18 | Labs/ Projects Preparation (no class) | |
| April 20 | Project presentations | |
| April 25 | Project presentations (continued), Q&A for Final Quiz Preparation, and videos of cool robotics research | |
| April 27 | 2:30-3:30pm (for Section 1), 3:30-4:30 (for section 2), SLH 100 Final Quiz (closed book, all material of the course) | |
