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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. 14 | Introduction | S&S: Chapter 1 |
| Jan. 23 | Matrix Algebra Refresher | S&S: Appendix A |
| Jan. 28 | Basic Linear Control Theory I | Book Chapters |
| Jan. 30 | Frequency Domain Analysis, Introduction to Matlab/Simulink | Book Chapter,
Matlab/Simulink Introduction |
| Feb. 4 | Case Study I: Stabilization of an Artificial Eye System | Manual for robot simulator |
| Feb. 6 | Basic Linear Control Theory II | Book Chapter,
Homework 1 |
| Feb. 11 | Coordinate Transformations | S&S: Chapter 2.1-2.7 |
| Feb. 13 | Direct Kinematics | S&S: Chapter 2.7-2.10 |
| Feb. 20 | Inverse Kinematics | S&S: Chapter 2.11, 3.1-3.7,
Homework 2 |
| Feb. 25 | Dynamics: Lagrangian Formulation | S&S: Chapter 4.1-4.4, |
| Feb. 27 | Dynamics: Newton-Euler Formulation and SoftwareTools | S&S: Chapter 4.5-4.8 |
| Mar. 3 | Nonlinear Control | S&S: Chapter 6 |
| Mar. 5 | Midterm (SSL 150, closed book): All material until Mar. 3 | |
| Mar. 10 | Trajectory Planning | S&S: Chapter 5 |
| Mar. 12 | Force Control | S&S: Chapter 7 |
| Mar. 17 | Spring Break | |
| Mar. 19 | Spring Break | |
| Mar. 24 | Sensors & Actuators, Filtering | S&S: Chapter 8,
Homework 3 |
| Mar. 26 | Adaptive Control | |
| Mar. 31 | Optimal Control | |
| April 2 | Kalman Filtering | Handout, More info on Kalman Filtering |
| April 7 | Introduction to Real-Time Control with VxWorks | WindriverSystems Handout |
| April 9 | Case Study: Gravity Compensation of a 7 DOF Robot Arm - Theory | Manual for programming the robot ,
Homework 4 |
| April 14 | Case Study: Gravity Compensation of a 7 DOF Robot Arm - Implementation | |
| April 16 | Labs with Real Robot and VxWorks (no class) | TAR Archive with Robot Simulator |
| April 21 | Labs with Real Robot and VxWorks (no class) | TAR Archive with Robot Simulator |
| April 23 | Labs with Real Robot and VxWorks (no class) | TAR Archive with Robot Simulator |
| April 28 | Review of Class for Final Quiz Preparation, Videos of cool robot research | |
| April 30 | 2-3pm SSL 150 Final Quiz (open book, all material of the course) | |
