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: DenavitHartenberg convention and the derivation of DH 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. 

Sep. 28  Guest Lecture: Professor Girish Chowdhury  
Oct. 3  Forward kinematics examples, Spherical wrist  
Oct. 5  Inverse kinematics: geometric method, twolink planar arm, elbow manipulator  Read 3.3 
Oct. 10  Inverse kinematics: kinematic decoupling, SCARA arm, spherical wrist.  
Oct. 12  Guest Lecture: Professor HaeWon Park  
Oct. 17  No Class  
Oct. 19  Exam 1  
Oct. 24  Computer vision overview, segmentation statistics review  
Oct. 26  Segmentation by minimizing withingroup variance, recursive formulation for withingroup variance  Read 11.3 
Oct. 31  Connected components, moments, position and orientation in binary images  Read 11.411.5 
Nov. 2  Imaging geometry and Camera calibration  Read 11.111.2 
Nov. 7  Angular velocity, so(3) and the derivative of a rotation matrix  Read 4.14.3 
Nov. 9  Velocity of a point attached to a moving frame, addition of angular velocities  Read 4.44.6 
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 