| Date | Topic | Assignments |
| Jan. 12 | Introduction | S&S: Chapter 1 |
| Jan. 14 | Matrix Algebra Refresher | S&S: Appendix A |
| Jan. 21 | Basic Linear Control Theory I | Book Chapters |
| Jan. 26 | Frequency Domain Analysis, Introduction to Matlab/Simulink | Book Chapter,
Matlab/Simulink Introduction |
| Jan. 28 | Basic Linear Control Theory II | Book Chapter |
| Feb. 2 | Case Study I: Stabilization of an Artificial Eye System | Manual for robot simulator |
| Feb. 9 | Coordinate Transformations | S&S: Chapter 2.1-2.7 |
| Feb. 11 | Direct Kinematics | S&S: Chapter 2.7-2.10 ,
Homework 1 |
| Feb. 18 | Inverse Kinematics | S&S: Chapter 2.11, 3.1-3.7,
|
| Feb. 23 | Dynamics: Lagrangian Formulation | S&S: Chapter 4.1-4.4, |
| Feb. 25 | Dynamics: Newton-Euler Formulation and SoftwareTools | S&S: Chapter 4.5-4.8 |
| Mar. 2 | Nonlinear Control | S&S: Chapter 6 |
| Mar. 4 | Trajectory Planning | S&S: Chapter 5 |
| Mar. 9 | Force Control | S&S: Chapter 7
Homework 2 |
| Mar. 11 | Sensors & Actuators, Filtering | S&S: Chapter 8 |
| Mar. 16 | Spring Break | |
| Mar. 18 | Spring Break | |
| Mar. 23 | Adaptive Control | |
| Mar. 25 | Attend Lecture by Karl Aström in HNB 100 | |
| March 30 | Introduction to Real-Time Control with VxWorks | WindriverSystems Handout |
| April 1 | Case Study: Gravity Compensation of a 7 DOF Robot Arm - Theory | Manual for programming the robot
Homework 3 |
| April 6 | Optimal Control | |
| April 8 | Kalman Filtering | Handout, More info on Kalman Filtering |
| April 13 | Case Study: Gravity Compensation of a 7 DOF Robot Arm - Implementation | TAR Archive with Robot Simulator |
| April 15 | Labs with Real Robot and VxWorks (no class) | Return Homework 3 in RTH 417
Homework 4 |
| April 20 | Q&A for Lab Assignment, Review of Class for Final Quiz Preparation, Videos of cool robot research | continue work on Real Robot Lab |
| April 22 | Labs with Real Robot and VxWorks (no class) | |
| April 27 RTH 422 | Q&A for Final Quiz Preparation | |
| April 29 | 2-3pm SSL 150 Final Quiz (closed book, all material of the course) | |
