EE 543 - Models of Robotic Manipulation - 2001

Instructor: Jacob Rosen Ph.D.
Office: CSEE M410 / BioRobotics Lab (CSEE 455)
E-mail: rosen@u.washington.edu
Phone: 685-1600 (Office) 616-4936 (Lab)

Units: 3

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 kinematic 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, 2nd Edition, Addison Wesley 1989

Class Notes

Class 01: Introduction & Basic Ideas [PDF 930K]

Class 02: Special Description & Transformation [PDF 657K]

Class 03: Direct Manipulator Kinematics (1/3) [PDF 1000K]

Class 04: Direct Manipulator Kinematics (2/3) [PDF 1565K]

Class 05: Direct Manipulator Kinematics (3/3) [PDF 586K]

Class 06: Inverse Manipulator Kinematics (1/4) [PDF 725K]

Class 07: Inverse Manipulator Kinematics (2/4) [PDF 681K]

Class 08: Inverse Manipulator Kinematics (3/4) [PDF 579K]

Class 09: Inverse Manipulator Kinematics (4/4) [PDF 235K]

Class 10: Jacobian: Velocities and Forces (1/4) [PDF 458K]

Class 11: Linear and Angular Velocities (2/4) [PDF 456K]

Class 12: Velocity propagation (3/4) [PDF 391K]

Class 13: Jacobian: Velocity propagation (4/4) [PDF 415K]

Class 14: Manipulator Mechanical Design [PDF 1287K]

Class 15: Manipulator Dynamics (1/2) [PDF 2703K]

Class 16: Manipulator Dynamics (2/2) [PDF 3602K]

Introduction to Autolev [PDF 323K]