|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.