Assumed background:
1. Calculus I and II and Physics I
2. Facility with a highlevel programming language
Useful, but not essential background:
1. Linear algebra
2. Differential equations
3. Multivariable calculus
Text: M.T. Mason, Mechanics of Robotic Manipulation, MIT Press, 2001. Errata are detailed here.
Reference: S. M.
LaValle, Planning Algorithms,
Color Key for Table
below
Pink – Order or content may change.
Terquiose – No class
Approximate Course Outline 

Date 

Topic 
Lecture Slides 
Other Stuff 
8/28 
Chapter 1 
manipulation 

8/31 
Section 2.1,
Appendix A 
kinematic
preliminaries 

9/1 
1:00 pm 

Talk attendance is optional 

9/4 
NO CLASS 
LABOR DAY 


9/7 
Section 2.2 
planar
kinematics 

9/11 
Sections 2.32.5

spatial
kinematics 

9/14 
Sections 2.5,2.6

nonholonomic
constraints 


9/18 
Section 3.1 
spatial
orientation  Rodrigues' formula 


9/21 
Section 3.1 
spatial
orientation  quaternions 


9/25 
Section 3.2 
spatial
displacements  screw coordinates 


9/28 
Section 3.3 
representing
constraint 

10/2 
Sections 4.1,
4.2 
path planning 

10/5 
path planning
for deformable objects 



10/10 
NO CLASS 



10/12 

ATTEND MANOCHA COLLOQUIUM 
3:505:00 
JEC 3117 
10/16 
Section 2.6, 4.3 
kinematic models
of contact 

10/19 

intro to daVinciCode (dVC) 


10/23 
Section 5.1 
foundations of
statics 

10/26 
Sections 5.25.4 
polyhedral
convex cones 


10/30 
Sections 5.5,5.6 
the oriented
plane 


11/2 
Section 5.7,5.8 
moment labeling
and dual force 
mtm lectures 15 and 18 

11/6 
dynamics of a
particle 


11/9 

dynamics of
particle (continued) 


11/13 

dynamics of
rigid body 


11/16 

PROJECT QUESTIONS 


11/20 
Sections 6.16.5 
friction 

11/23 
NO CLASS 
THANKSGIVING 


11/27 
Section 6.6 
planar sliding 


11/30 
Section 6.6 
planar sliding
(cont) 


12/4 
Section 7.4 
parts orienting 


12/7 
Section 7.5 
assembly 


12/14 
FINAL EXAM 
Lally Conf Room 
2:00 – 5:00 pm 

Grading 

Homework 
40% 
Projects 
40% 
Final Exam 
20% 
GENERAL NOTICES
If you can't meet me during office hours, email me or meet me after class to set up a special time.
The final exam will be closedbook. You may bring a calculator and one 8.5"x11" sheet of paper with notes (both sides).
Discussion of assignments among classmates is strongly encouraged. However, if you turn in an obviously copied assignments, your overall grade for the course will be reduced by at least a letter grade for each infraction.
Assignments must be handed in by midnight on the due date to receive full credit. Assignments will be accepted up to 48 hours late, but will be graded out of 75 rather than 100. Assignments will not be accepted beyond the 48 hour limit. Late assignments must be handed in to me or one of the secretaries in the CS Dept. You must have the secretary sign and date your work on receipt.
Academic Dishonesty: If you are not clear on what constitute academic dishonesty, consult the current Rensselaer Handbook of Student Rights and Responsibilities. Academic dishonesty will not be tolerated. Students caught cheating will receive penalties as follows: first offense – 0 on the assignment; second offense – F for the course.
Statement on Plagiarism: An often misunderstood form of academic dishonesty is plagiarism, which is commonly defined as the act of passing off as one's own, the ideas, words, etc. of another. In accordance with this definition, you are committing plagiarism if you copy the work of another person and turn it is as your own, even if you have the permission of that person. Plagiarism is one of the worst academic sins, for the plagiarist destroys trust among colleagues without which research cannot safely be communicated.