This is an archived version of the MEAM 520 website from Fall 2012. The materials posted below are not current.
Calendar
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| Date
| Topic (Linked to Lecture Slides)
| Reading
| Assignments Due
| Project Deadlines
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| 01
| Thu, 9/6
| Course Logistics and Motivation
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| 02
| Tue, 9/11
| Rotation Matrices
| B.1, 2.1-2.3
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| 03
| Thu, 9/13
| Homogenous Transformations
| 2.4-2.8
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| 04
| Tue, 9/18
| Manipulator Kinematics
| 1.1-1.3, 3.1
| HW01 (Flying Box)
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| 05
| Thu, 9/20
| Denavit-Hartenberg (DH)
| 3.2
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| 06
| Tue, 9/25
| More Denavit-Hartenberg (DH)
| 3.2
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| 07
| Thu, 9/27
| Inverse Kinematics (IK)
| 3.3, 3.4
| HW02 (SCARA Robot)
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| 08
| Tue, 10/2
| More Inverse Kinematics (IK)
| 3.3
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| 09
| Thu, 10/4
| PUMA 260 and Project 1
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| 10
| Tue, 10/9
| More Manipulator Kinematics
| 3.3
| HW03 (PUMA FK + SCARA IK)
| PUMA Light Painting: Teams
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| Thu, 10/11
| No lecture - project work time
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| 11
| Tue, 10/16
| Velocity Kinematics
| 4.6
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| PUMA Light Painting: IK
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| 12
| Thu, 10/18
| More Velocity Kinematics
| 4.6, 4.9, 4.11, 4.12
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| Tue, 10/23
| No lecture - fall break
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| 13
| Thu, 10/25
| From Simulation to Reality
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| PUMA Light Painting: Simulation
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| Tue, 10/30
| No lecture - hurricane
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| 14
| Thu, 11/1
| Robot Trajectories
| 5.1, 5.2
| HW04 (Jacobians) due Friday
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| 15
| Tue, 11/6
| Robot Hardware
| 6.1, 6.2
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| PUMA Light Painting: Reality
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| Thu, 11/8
| Midterm Exam (Solution)
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| 16
| Tue, 11/13
| Haptic Interface Hardware
| KJK, MS
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| 17
| Thu, 11/15
| Teleoperation (Alternative Slides)
| NPH
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| PUMA Light Painting: Reality
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| 18
| Tue, 11/20
| More Teleoperation
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| HW05 (PHANToM)
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| Thu, 11/22
| No lecture - Thanksgiving
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| 19
| Tue, 11/27
| PHANToM
| 6.3
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| PHANToM Haptics: Teams
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| 20
| Thu, 11/29
| Robot Dynamics (simulation)
| 6.3
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| 21
| Tue, 12/4
| More Robot Dynamics
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| PHANToM Haptics: Rendering
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| 22
| Thu, 12/6
| Mobile Robots
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| HW06 (Teleop) due Friday
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| Wed, 12/19
| Final Exam (noon to 2 p.m.)
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(note: all items are due at 5:00 p.m. unless otherwise specified)
Resources
Piazza Forum
Blackboard (Gradebook and Lecture Recordings)
Mathworks Matlab Tutorial
MEAM 520 Matlab Tutorial
Textbook: Robot Modeling and Control by Spong, Hutchinson, and Vidyasagar
SHV Errata (Seth Hutchinson)
SHV Errata (Seth Hutchinson + MEAM 520 Teaching Team) (Posted on Oct 10)
Course Calendar
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(:GoogleCalendar calendar=0ot24f9bpbd07425612aivp534@group.calendar.google.com control=navonly mode=week width=900 height=540 bfcolor=#660000 title="Towne B2":)
Questions or concerns? Contact Professor Kuchenbecker at kuchenbe@seas.upenn.edu