Week 1:

• handouts from first day of class (course home page, general information, syllabus, policies)
• various types and configurations of robots (robot_types.pdf)
• figure illustrating robot terminology (robot_terminology.pdf)
• photos of example robots (robot_photos.pdf)

Week 2:

• procedure for finding a manipulator workspace (workspace_procedure.pdf)
• example of finding a manipulator workspace (workspace_example.pdf)
• RPR workspace example for sweep method homework (workspace_RPR_example.pdf)
• hint for homework problem 2.6 (2-6_hint.pdf)

Week 4:

• Stanford Manipulator frame assignment procedure example (stanford_manipulator.pdf)
• example problem 3.13 from the book (3-13.pdf)

Week 5:

• Pipe Manipulator forward position analysis example (forward.pdf)

Week 6:

• Pipe Manipulator reverse position analysis example (reverse.pdf)
• Formula sheet provided with Exam I (exam_I_formulas.pdf)

Week 7:

• Adept robot reference manual

Week 8:

• Adept robot frame assignments (adept.pdf)
• Exam II - take-home exam (take_home_exam.pdf)

Week 10:

• example of calculating the symbolic determinant of a Jacobian matrix (jacobian_determinant.mcd)

Week 11:

• redundant manipulator kinematics example (MathCAD: redundant_manipulator.mcd   document: redundant_manipulator_doc.pdf)
• class presentation evaluation sheet (presentation.pdf)

Week 12:

• seminal redundant manipulator research paper (yoshikawa.pdf)
• project evaluation score sheet (project_eval_sheet.pdf)

Week 13:

• HMWK 5 - binary image calculations (hmwk5_binary_image_calcs.pdf)
• binary image example (image.pdf)

Week 14:

• first part of lecture notes on image processing (vision_handout_1.pdf)
• Glaxo Virtual Anatomy project images from the early 1990's (gva.pdf)

Week 16:

• second part of lecture notes on image processing (vision_handout_2.pdf)
• final exam review topics (final_exam_review.pdf)
• group-homework individual evaluation (group_evaluation.pdf)

Other resources:

• Adept robot reference manual
• Adept robot binary I/O reference guide (adept_IO.pdf)
• AGV article (AGV_article.pdf)
• Top Ten Robotics Mistakes article (top_10_robotics.mistakes.pdf)
• least squares line fit paper (least_squares.pdf)
• Sony Qrio article (sony_qrio_article.pdf)
• video demonstrations of robotics stuff