This is an archived version of the MEAM 520 website from Fall 2012. The materials posted below are not current.

Calendar


Date Topic (Linked to Lecture Slides) Reading Assignments Due Project Deadlines
01 Thu, 9/6 Course Logistics and Motivation
02 Tue, 9/11 Rotation Matrices B.1, 2.1-2.3
03 Thu, 9/13 Homogenous Transformations 2.4-2.8
04 Tue, 9/18 Manipulator Kinematics 1.1-1.3, 3.1 HW01 (Flying Box)
05 Thu, 9/20 Denavit-Hartenberg (DH) 3.2
06 Tue, 9/25 More Denavit-Hartenberg (DH) 3.2
07 Thu, 9/27 Inverse Kinematics (IK) 3.3, 3.4 HW02 (SCARA Robot)
08 Tue, 10/2 More Inverse Kinematics (IK) 3.3
09 Thu, 10/4 PUMA 260 and Project 1
10 Tue, 10/9 More Manipulator Kinematics 3.3 HW03 (PUMA FK + SCARA IK) PUMA Light Painting: Teams
Thu, 10/11 No lecture - project work time
11 Tue, 10/16 Velocity Kinematics 4.6 PUMA Light Painting: IK
12 Thu, 10/18 More Velocity Kinematics 4.6, 4.9, 4.11, 4.12
Tue, 10/23 No lecture - fall break
13 Thu, 10/25 From Simulation to Reality PUMA Light Painting: Simulation
Tue, 10/30 No lecture - hurricane
14 Thu, 11/1 Robot Trajectories 5.1, 5.2 HW04 (Jacobians) due Friday
15 Tue, 11/6 Robot Hardware 6.1, 6.2 PUMA Light Painting: Reality
Thu, 11/8 Midterm Exam (Solution)
16 Tue, 11/13 Haptic Interface Hardware KJK, MS
17 Thu, 11/15 Teleoperation (Alternative Slides) NPH PUMA Light Painting: Reality
18 Tue, 11/20 More Teleoperation HW05 (PHANToM)
Thu, 11/22 No lecture - Thanksgiving
19 Tue, 11/27 PHANToM 6.3 PHANToM Haptics: Teams
20 Thu, 11/29 Robot Dynamics (simulation) 6.3
21 Tue, 12/4 More Robot Dynamics PHANToM Haptics: Rendering
22 Thu, 12/6 Mobile Robots HW06 (Teleop) due Friday
Wed, 12/19 Final Exam (noon to 2 p.m.)

(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


Questions or concerns? Contact Professor Kuchenbecker at kuchenbe@seas.upenn.edu