ME 449 Schedule 2018
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ME 449 Schedule 2018
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The slot before each class indicates the lectures, lecture comprehension quizzes, associated reading, discussion prompts, etc., that should be completed before that class. The notation Cx.y means Coursera course x, module y, where most courses have 1 module per week, so y = both week and module. (In course 1, there are 2 modules in week 1.) Yellow indicates that no new material will be covered before the next class.
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MondayWednesdayFriday
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Sept28
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OctC1.1-C1.2 (all of week 1)1C1.3 through C-space representation (week 2)3finish C1.3 (week 2)5
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C1.4 through rotation matrices (week 3)8finish C1.4 (week 3)10
HWK1 due
C1.5 through twists (week 4)12
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finish C1.5 (week 4)15C2.117
HWK2 due
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QUIZ 1
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C2.2 through body Jacobian22finish C2.224
HWK3 due
C2.326
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Nov29C3.1 through Lagrangian dynamics31
HWK4 due
C3.1 mass matrix2
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C3.1 dynamics of a single rigid body (2 videos)5C3.1 N-E inv dynamics (1 video) and C3.2 forward dynamics (1 video in C3.2)7
HWK5 due
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QUIZ 2 (Ch 4, 5, 6, and up through dynamics of single rigid body in Ch8)
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C3.3 excluding polynomial via point trajectories12C3.4 all 3 videos on time-optimal time scaling14
HWK6 due; practice exercise "draft"
Coursera course 6, capstone project. We will do milestone 2 first, then 1, 3, 4, with the completed project due Dec 12.16
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C4.3 through linear error dynamics19C4.3 1st- and 2nd- order error dynamics21
practice exercise due
Thanksgiving
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finish C4.326C4.4 3 videos on motion control with torque or force inputs28C5.3 through omnidirectional wheeled robots30
in-class demo of final project milestone 2
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DecC5.4 odometry (1 video)3C5.4 mobile manipulation (1 video)57
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final project due
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