| Date | Topic | Assignments |
| Aug. 29 | General introduction and overview of the course | Read Chap. 1 |
| Aug. 31 | Rotation matrices, SO(n) | Read 2.1, 2.2 |
| Sep. 5 | Coordinate transformations, composition of rotations | Read 2.3, 2.4 |
| Sep. 7 | Homogeneous transformations, Coordinate transformation examples | Read 2.6, 2.7 |
| Sep. 12 | Parameterizations of SO(3), Euler Angles | Read 2.5 |
| Sep. 14 | Similarity transformations, rotations w.r.t. the fixed frame, axis/angle representation | |
| Sep. 19 | Forward kinematics: Denavit-Hartenberg convention and the derivation of D-H transformation matrix, assigning link frames using the DH convention. | Read 3.1 and 3.2 |
| Sep. 21 | Forward kinematics examples | |
| Sep. 26 | Open Discussion Session on using ROS for lab assignments.
Since most of you have not used ROS before, and since many of you may not be familiar with C++ programming, this lecture will be devoted to answering any questions you may have and explaining any difficult concepts. |
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| Sep. 28 | Guest Lecture: Professor Girish Chowdhury | |
| Oct. 3 | Forward kinematics examples, Spherical wrist | |
| Oct. 5 | Inverse kinematics: geometric method, two-link planar arm, elbow manipulator | Read 3.3 |
| Oct. 10 | Inverse kinematics: kinematic decoupling, SCARA arm, spherical wrist. | |
| Oct. 12 | Guest Lecture: Professor Hae-Won Park | |
| Oct. 17 | No Class | |
| Oct. 19 | Exam 1 | |
| Oct. 24 | Computer vision overview, segmentation statistics review | |
| Oct. 26 | Segmentation by minimizing within-group variance, recursive formulation for within-group variance | Read 11.3 |
| Oct. 31 | Connected components, moments, position and orientation in binary images | Read 11.4-11.5 |
| Nov. 2 | Imaging geometry and Camera calibration | Read 11.1-11.2 |
| Nov. 7 | Angular velocity, so(3) and the derivative of a rotation matrix | Read 4.1-4.3 |
| Nov. 9 | Velocity of a point attached to a moving frame, addition of angular velocities | Read 4.4-4.6 |
| Nov. 14 | The Manipulator Jacobian | |
| Nov. 16 | TBD | |
| Nov. 21 | FALL BREAK | |
| Nov. 23 | FALL BREAK | |
| Nov. 28 | Example manipulator Jacobians | |
| Nov. 30 | Manipulator singularities | Read 4.9 |
| Dec. 5 | TBD | |
| Dec. 7 | Exam 2 | |
| Dec. 12 | TBD |