| Jan 6 |
Introduction/Introduction to Manipulator Kinematics |
PPT
PDF |
|
| Jan 9 |
Spatial Descriptions |
PPT
PDF |
|
| Jan 11 |
Rotations in 3D |
PPT
PDF |
|
| Jan 14 |
Rigid Transformations in 3D |
PPT
PDF |
|
| Jan 16 |
Forward Kinematics |
PPT
PDF |
|
| Jan 18 |
Denavit-Harenberg |
PPT
PDF |
|
| Jan 20 |
Denavit-Hartenberg |
PPT
PDF |
|
| Jan 23 |
Inverse kinematics |
PPT
PDF |
|
| Jan 25 |
Inverse kinematics |
PPT
PDF |
|
| Jan 27 |
Inverse Kinematics and Path Generation |
PPT
PDF |
|
| Jan 30 |
Inverse Kinematics and Path Generation |
PPT
PDF |
|
| Feb 01 |
Path Generation with end point constraints |
PPT
PDF |
|
| Feb 04 |
Mobile Robotics Forward Kinematics |
PPT
PDF |
|
| Feb 06 |
Mobile Robotics Forward Kinematics |
PPT
PDF |
|
| Feb 08 |
Probability Introduction/Review |
PPT
PDF |
|
| Feb 10 |
Probability Introduction/Review: Joint and Marginal Probabilities |
PPT
PDF |
|
| Feb 13 |
Velocity Motion Model |
PPT
PDF |
|
| Feb 17 |
Velocity Motion Model |
PPT
PDF |
|
| Feb 17/27 |
Velocity Motion Model/Odometry Motion Model |
PPT
PDF |
|
| Feb 27 |
Odometry Motion Model |
PPT
PDF |
|
| Mar 1 |
Combining Noisy Measurements |
PPT
PDF |
|
| Mar 3 |
Midterm |
|
|
| Mar 6 |
Kalman Filter |
PPT
PDF |
|
| Mar 08 |
Kalman Filter Examples |
PPT
PDF |
|
| Mar 10 |
Kalman Filter Examples |
PPT
PDF |
|
| Mar 13 |
Extended Kalman Filter |
PPT
PDF |
|
| Mar 15 |
Extended Kalman Filter for Localization |
PPT
PDF |
|
| Mar 17 |
Unscented Kalman Filter for Localization |
PPT
PDF
|
|
| Mar 20 |
Histogram Filter |
PPT
PDF |
updated Mar 22 |
| Mar 22/24 |
Histogram Filter, Particle Filter |
PPT
PDF |
|
| Mar 27 |
SLAM |
PPT
PDF |
updated Mar 27 |
| Mar 29 |
Range sensors |
PPT
PDF |
|
| Mar 31 |
Bug algorithms |
PPT
PDF |
|