Week | Date | Content | Solutions | Test | Assignment |
01 | 19.09. | Reviewing elements of LA | Test-α | Test-α | HW-01: Solving a polynomial equation |
02 | 26.09. | Motion as a transformation of coordinates | | | |
03 | 03.10. | Denavit-Hartenberg convention | | | HW-02: Denavit-Hartenberg convention |
04 | 10.10. | Preparation for Test 1 | | | HW-03: Forward kinematics |
05 | 17.10. | Test 1 Example | | Test 1 | HW-04: Rigid motion as a coordinate transformation |
06 | 24.10. | Comments to previous homeworks and to Test 1, Lab-06 | Lab-06 | | |
07 | 31.10. | Angle-axis and quaternions Lab-07 | Lab-07 | | HW-05: Axis of motion |
08 | 07.11. | Division of polynomials Lab-08 | | | HW-06: Division of polynomials |
09 | 14.11. | Test 2 Example | | Test 2 | |
10 | 21.11. | Inverse Kinematics, Groebner Basis Computation Lab-10 | Lab-10 | | HW-07: Inverse Kinematics by GB Computation |
11 | 28.11. | Solving polynomial systems by eigenvectors | Lab-11 | | HW-08: Inverse Kinematics by Newton's Method |
12 | 05.12. | Manipulator singularities Lab-12 | | | |
13 | 12.12. | Test 3 Example | | Test 3 | |
14 | 09.01. | | | Written exam | |