https://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation&feed=atom&action=historyME 449 Robotic Manipulation - Revision history2024-03-29T13:53:34ZRevision history for this page on the wikiMediaWiki 1.35.9https://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation&diff=26772&oldid=prevLynch at 19:53, 27 November 20232023-11-27T19:53:09Z<p></p>
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<td class="diff-context diff-side-deleted"><div>* Instructor: Prof. Kevin Lynch</div></td>
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<td class="diff-context diff-side-deleted"><div>* Course assistants: Rohan Kota, rohankota2026@u.northwestern.edu, and Tom Trzpit, TomaszTrzpit2025@u.northwestern.edu</div></td>
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<td class="diff-context diff-side-added"><div>* Course assistants: Rohan Kota, rohankota2026@u.northwestern.edu, and Tom Trzpit, TomaszTrzpit2025@u.northwestern.edu</div></td>
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<td class="diff-deletedline diff-side-deleted"><div>* Office hours: Monday 3-4 A211 or AB atrium if A211 is not available (Kota); Tuesday 2-3 zoom, see Canvas (Lynch). '''<del class="diffchange diffchange-inline">Mon Oct 16</del> office hours <del class="diffchange diffchange-inline">have been moved</del> <del class="diffchange diffchange-inline">to</del> <del class="diffchange diffchange-inline">Wed</del> <del class="diffchange diffchange-inline">Oct</del> <del class="diffchange diffchange-inline">18</del>.'''</div></td>
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<td class="diff-addedline diff-side-added"><div>* Office hours: Monday 3-4 A211 or AB atrium if A211 is not available (Kota); Tuesday 2-3 zoom, see Canvas (Lynch). '''<ins class="diffchange diffchange-inline">Lynch's</ins> office hours <ins class="diffchange diffchange-inline">Tues</ins> <ins class="diffchange diffchange-inline">Dec</ins> <ins class="diffchange diffchange-inline">5</ins> <ins class="diffchange diffchange-inline">are</ins> <ins class="diffchange diffchange-inline">canceled</ins>.'''</div></td>
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<td class="diff-context diff-side-deleted"><div><!--4-5 PM Tuesday (TAs) and 2-3 PM Thursday (Lynch) by Zoom invitation in Canvas. '''Finals week only:''' TA office hours will be 4-5 PM Tuesday, as usual, and Lynch's office hours will be 1:30-2:30 Wednesday Dec 8 (office hours Thursday canceled) </div></td>
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<td class="diff-context diff-side-added"><div><!--4-5 PM Tuesday (TAs) and 2-3 PM Thursday (Lynch) by Zoom invitation in Canvas. '''Finals week only:''' TA office hours will be 4-5 PM Tuesday, as usual, and Lynch's office hours will be 1:30-2:30 Wednesday Dec 8 (office hours Thursday canceled) </div></td>
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</table>Lynchhttps://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation&diff=26771&oldid=prevLynch: /* Final Project: Mobile Manipulation */2023-11-14T22:24:46Z<p><span dir="auto"><span class="autocomment">Final Project: Mobile Manipulation</span></span></p>
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<td class="diff-context diff-side-deleted"><div>* '''Due Monday November 20 at 1:30 PM on Canvas''': Milestone 2. ''(You will do milestone 2 first! Milestone 1 will come next.)'' You will turn in a single zip file named FamilyName_GivenName_milestone2.zip with your solution to milestone 2. The zip file should include a README.pdf file with a brief summary of your solution and how to use it, and if your code is not working properly, it should correctly point out the problems. The zip file should also include a directory with the commented code you wrote, including a cut-and-pastable comment at the beginning showing how to execute the code to generate the csv file included in the submission; a CoppeliaSim video showing your reference trajectory of the end-effector (similar to [https://www.youtube.com/watch?v=8d_cYwV58lI&feature=youtu.be this video]); and the csv file that your code generated to create the video.</div></td>
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<td class="diff-context diff-side-added"><div>* '''Due Monday November 20 at 1:30 PM on Canvas''': Milestone 2. ''(You will do milestone 2 first! Milestone 1 will come next.)'' You will turn in a single zip file named FamilyName_GivenName_milestone2.zip with your solution to milestone 2. The zip file should include a README.pdf file with a brief summary of your solution and how to use it, and if your code is not working properly, it should correctly point out the problems. The zip file should also include a directory with the commented code you wrote, including a cut-and-pastable comment at the beginning showing how to execute the code to generate the csv file included in the submission; a CoppeliaSim video showing your reference trajectory of the end-effector (similar to [https://www.youtube.com/watch?v=8d_cYwV58lI&feature=youtu.be this video]); and the csv file that your code generated to create the video.</div></td>
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<td class="diff-deletedline diff-side-deleted"><div>* ''' Due Thursday December 7 at 12:00 PM (noon) on Canvas''': The entire final writeup, as described [<del class="diffchange diffchange-inline">http</del>://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2023 '''at this page'''], in a single zip file named FamilyName_GivenName_capstone.zip. '''You may earn up to 10% extra credit on the capstone project by implementing singularity and self-collision avoidance.''' See the description of the final project writeup.</div></td>
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<td class="diff-addedline diff-side-added"><div>* ''' Due Thursday December 7 at 12:00 PM (noon) on Canvas''': The entire final writeup, as described [<ins class="diffchange diffchange-inline">https</ins>://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2023<ins class="diffchange diffchange-inline">#Final_Step:_Completing_the_Project_and_Your_Submission</ins> '''at this page'''], in a single zip file named FamilyName_GivenName_capstone.zip. '''You may earn up to 10% extra credit on the capstone project by implementing singularity and self-collision avoidance.''' See the description of the final project writeup.</div></td>
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</table>Lynchhttps://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation&diff=26770&oldid=prevLynch: /* Final Project: Mobile Manipulation */2023-11-14T22:24:12Z<p><span dir="auto"><span class="autocomment">Final Project: Mobile Manipulation</span></span></p>
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<td class="diff-context diff-side-deleted"><div>* '''Due Monday November 20 at 1:30 PM on Canvas''': Milestone 2. ''(You will do milestone 2 first! Milestone 1 will come next.)'' You will turn in a single zip file named FamilyName_GivenName_milestone2.zip with your solution to milestone 2. The zip file should include a README.pdf file with a brief summary of your solution and how to use it, and if your code is not working properly, it should correctly point out the problems. The zip file should also include a directory with the commented code you wrote, including a cut-and-pastable comment at the beginning showing how to execute the code to generate the csv file included in the submission; a CoppeliaSim video showing your reference trajectory of the end-effector (similar to [https://www.youtube.com/watch?v=8d_cYwV58lI&feature=youtu.be this video]); and the csv file that your code generated to create the video.</div></td>
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<td class="diff-context diff-side-added"><div>* '''Due Monday November 20 at 1:30 PM on Canvas''': Milestone 2. ''(You will do milestone 2 first! Milestone 1 will come next.)'' You will turn in a single zip file named FamilyName_GivenName_milestone2.zip with your solution to milestone 2. The zip file should include a README.pdf file with a brief summary of your solution and how to use it, and if your code is not working properly, it should correctly point out the problems. The zip file should also include a directory with the commented code you wrote, including a cut-and-pastable comment at the beginning showing how to execute the code to generate the csv file included in the submission; a CoppeliaSim video showing your reference trajectory of the end-effector (similar to [https://www.youtube.com/watch?v=8d_cYwV58lI&feature=youtu.be this video]); and the csv file that your code generated to create the video.</div></td>
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<td class="diff-deletedline diff-side-deleted"><div>* ''' Due Thursday December 7 at 12:00 PM (noon) on Canvas''': The entire final writeup, as described [http://hades.mech.northwestern.edu/index.php/<del class="diffchange diffchange-inline">Mobile_Manipulation_Capstone_2022</del> '''at this page'''], in a single zip file named FamilyName_GivenName_capstone.zip. '''You may earn up to 10% extra credit on the capstone project by implementing singularity and self-collision avoidance.''' See the description of the final project writeup.</div></td>
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<td class="diff-addedline diff-side-added"><div>* ''' Due Thursday December 7 at 12:00 PM (noon) on Canvas''': The entire final writeup, as described [http://hades.mech.northwestern.edu/index.php/<ins class="diffchange diffchange-inline">Mobile_Manipulation_Capstone_2023</ins> '''at this page'''], in a single zip file named FamilyName_GivenName_capstone.zip. '''You may earn up to 10% extra credit on the capstone project by implementing singularity and self-collision avoidance.''' See the description of the final project writeup.</div></td>
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</table>Lynchhttps://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation&diff=26769&oldid=prevLynch: /* Final Project: Mobile Manipulation */2023-11-14T22:22:09Z<p><span dir="auto"><span class="autocomment">Final Project: Mobile Manipulation</span></span></p>
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<td class="diff-context diff-side-deleted"><div>The final project is described [http://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2023 '''on this page''']. It is due in Canvas on Thursday December 7 at noon.</div></td>
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<td class="diff-context diff-side-added"><div>The final project is described [http://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2023 '''on this page''']. It is due in Canvas on Thursday December 7 at noon.</div></td>
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<td class="diff-context diff-side-deleted"><div>* '''Due Monday November 20 at 1:30 PM on Canvas''': Milestone 2. ''(You will do milestone 2 first! Milestone 1 will come next.)'' You will turn in a single zip file named FamilyName_GivenName_milestone2.zip with your solution to milestone 2. The zip file should include a README.pdf file with a brief summary of your solution and how to use it, and if your code is not working properly, it should correctly point out the problems. The zip file should also include a directory with the commented code you wrote, including a cut-and-pastable comment at the beginning showing how to execute the code to generate the csv file included in the submission; a CoppeliaSim video showing your reference trajectory of the end-effector (similar to [https://www.youtube.com/watch?v=8d_cYwV58lI&feature=youtu.be this video]); and the csv file that your code generated to create the video.</div></td>
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<td class="diff-context diff-side-added"><div>* '''Due Monday November 20 at 1:30 PM on Canvas''': Milestone 2. ''(You will do milestone 2 first! Milestone 1 will come next.)'' You will turn in a single zip file named FamilyName_GivenName_milestone2.zip with your solution to milestone 2. The zip file should include a README.pdf file with a brief summary of your solution and how to use it, and if your code is not working properly, it should correctly point out the problems. The zip file should also include a directory with the commented code you wrote, including a cut-and-pastable comment at the beginning showing how to execute the code to generate the csv file included in the submission; a CoppeliaSim video showing your reference trajectory of the end-effector (similar to [https://www.youtube.com/watch?v=8d_cYwV58lI&feature=youtu.be this video]); and the csv file that your code generated to create the video.</div></td>
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<td class="diff-deletedline diff-side-deleted"><div>* ''' Due Thursday December 7 at 12:00 PM (noon) on Canvas''': The entire final writeup, as described [http://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2022 '''at this page'''], in a single zip file named FamilyName_GivenName_capstone.zip. '''You may earn up to 10% extra credit on the capstone project by implementing self-collision avoidance.''' See the description of the final project writeup.</div></td>
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<td class="diff-addedline diff-side-added"><div>* ''' Due Thursday December 7 at 12:00 PM (noon) on Canvas''': The entire final writeup, as described [http://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2022 '''at this page'''], in a single zip file named FamilyName_GivenName_capstone.zip. '''You may earn up to 10% extra credit on the capstone project by implementing<ins class="diffchange diffchange-inline"> singularity and</ins> self-collision avoidance.''' See the description of the final project writeup.</div></td>
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</table>Lynchhttps://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation&diff=26765&oldid=prevLynch: /* Approximate Syllabus and Schedule */2023-10-28T04:10:33Z<p><span dir="auto"><span class="autocomment">Approximate Syllabus and Schedule</span></span></p>
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<td class="diff-context diff-side-deleted"><div>* Fri Oct 20: through Chapter 8.1.2 (quiz, Chapter 6; 2 videos and 2 LCs on Lagrangian dynamics) '''[[Media:MRslides-ch08a.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-context diff-side-added"><div>* Fri Oct 20: through Chapter 8.1.2 (quiz, Chapter 6; 2 videos and 2 LCs on Lagrangian dynamics) '''[[Media:MRslides-ch08a.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-context diff-side-deleted"><div>* Mon Oct 23: New material: Chapter 8.1.3 (1 video and 1 LC on understanding the mass matrix) '''[[Media:MRslides-ch08b.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-context diff-side-added"><div>* Mon Oct 23: New material: Chapter 8.1.3 (1 video and 1 LC on understanding the mass matrix) '''[[Media:MRslides-ch08b.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-deletedline diff-side-deleted"><div>* Wed Oct 25: '''MIDTERM''', chapters 2-5 (no electronic devices allowed [calculator, laptop, tablet, etc.]; study sheets and book allowed) '''[[Media:ME449-midterm-2022.pdf|2022 midterm]]''' and '''[[Media:ME449-midterm-solutions-2022.pdf|solutions]]''' (average score 22.9/32); '''[[Media:ME449-midterm-2023.pdf|<del class="diffchange diffchange-inline">2022</del> midterm]]''' and '''[[Media:ME449-midterm-solutions-2023.pdf|solutions]]'''</div></td>
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<td class="diff-addedline diff-side-added"><div>* Wed Oct 25: '''MIDTERM''', chapters 2-5 (no electronic devices allowed [calculator, laptop, tablet, etc.]; study sheets and book allowed) '''[[Media:ME449-midterm-2022.pdf|2022 midterm]]''' and '''[[Media:ME449-midterm-solutions-2022.pdf|solutions]]''' (average score 22.9/32); '''[[Media:ME449-midterm-2023.pdf|<ins class="diffchange diffchange-inline">2023</ins> midterm]]''' and '''[[Media:ME449-midterm-solutions-2023.pdf|solutions]]'''</div></td>
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<td class="diff-context diff-side-deleted"><div>* Fri Oct 27: Chapter 8.2 (2 videos and 2 LCs on dynamics of a single rigid body) '''[[Media:MRslides-ch08c.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-context diff-side-added"><div>* Fri Oct 27: Chapter 8.2 (2 videos and 2 LCs on dynamics of a single rigid body) '''[[Media:MRslides-ch08c.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-context diff-side-deleted"><div>* Mon Oct 30: Chapter 8.3 and 8.5 (2 videos and 2 LCs on Newton-Euler inverse dynamics, forward dynamics; quiz, Chapter 8 through 8.3) '''[[Media:MRslides-ch08d.pdf|CLASS SLIDES]]'''</div></td>
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<td class="diff-context diff-side-added"><div>* Mon Oct 30: Chapter 8.3 and 8.5 (2 videos and 2 LCs on Newton-Euler inverse dynamics, forward dynamics; quiz, Chapter 8 through 8.3) '''[[Media:MRslides-ch08d.pdf|CLASS SLIDES]]'''</div></td>
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</table>Lynchhttps://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation&diff=26764&oldid=prevLynch: /* Approximate Syllabus and Schedule */2023-10-28T04:10:09Z<p><span dir="auto"><span class="autocomment">Approximate Syllabus and Schedule</span></span></p>
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<td class="diff-context diff-side-deleted"><div>* Fri Oct 20: through Chapter 8.1.2 (quiz, Chapter 6; 2 videos and 2 LCs on Lagrangian dynamics) '''[[Media:MRslides-ch08a.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-context diff-side-added"><div>* Fri Oct 20: through Chapter 8.1.2 (quiz, Chapter 6; 2 videos and 2 LCs on Lagrangian dynamics) '''[[Media:MRslides-ch08a.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-context diff-side-deleted"><div>* Mon Oct 23: New material: Chapter 8.1.3 (1 video and 1 LC on understanding the mass matrix) '''[[Media:MRslides-ch08b.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-context diff-side-added"><div>* Mon Oct 23: New material: Chapter 8.1.3 (1 video and 1 LC on understanding the mass matrix) '''[[Media:MRslides-ch08b.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-deletedline diff-side-deleted"><div>* Wed Oct 25: '''MIDTERM''', chapters 2-5 (no electronic devices allowed [calculator, laptop, tablet, etc.]; study sheets and book allowed) '''[[Media:ME449-midterm-2022.pdf|2022 midterm]]''' and '''[[Media:ME449-midterm-solutions-2022.pdf|solutions]]''' (average score 22.9/32)</div></td>
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<td class="diff-addedline diff-side-added"><div>* Wed Oct 25: '''MIDTERM''', chapters 2-5 (no electronic devices allowed [calculator, laptop, tablet, etc.]; study sheets and book allowed) '''[[Media:ME449-midterm-2022.pdf|2022 midterm]]''' and '''[[Media:ME449-midterm-solutions-2022.pdf|solutions]]''' (average score 22.9/32)<ins class="diffchange diffchange-inline">; '''[[Media:ME449-midterm-2023.pdf|2022 midterm]]''' and '''[[Media:ME449-midterm-solutions-2023.pdf|solutions]]'''</ins></div></td>
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<td class="diff-context diff-side-deleted"><div>* Fri Oct 27: Chapter 8.2 (2 videos and 2 LCs on dynamics of a single rigid body) '''[[Media:MRslides-ch08c.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-context diff-side-added"><div>* Fri Oct 27: Chapter 8.2 (2 videos and 2 LCs on dynamics of a single rigid body) '''[[Media:MRslides-ch08c.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-context diff-side-deleted"><div>* Mon Oct 30: Chapter 8.3 and 8.5 (2 videos and 2 LCs on Newton-Euler inverse dynamics, forward dynamics; quiz, Chapter 8 through 8.3) '''[[Media:MRslides-ch08d.pdf|CLASS SLIDES]]'''</div></td>
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<td class="diff-context diff-side-added"><div>* Mon Oct 30: Chapter 8.3 and 8.5 (2 videos and 2 LCs on Newton-Euler inverse dynamics, forward dynamics; quiz, Chapter 8 through 8.3) '''[[Media:MRslides-ch08d.pdf|CLASS SLIDES]]'''</div></td>
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</table>Lynchhttps://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation&diff=26761&oldid=prevLynch: /* Assignments */2023-10-24T23:02:01Z<p><span dir="auto"><span class="autocomment">Assignments</span></span></p>
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<td class="diff-context diff-side-deleted"><div>'''[[Media:ME449-asst2-2023.pdf|Assignment 2]]''', due 1:30 PM CT <s>Monday October 30</s> '''Wednesday November 1''' on Canvas.</div></td>
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<td class="diff-context diff-side-added"><div>'''[[Media:ME449-asst2-2023.pdf|Assignment 2]]''', due 1:30 PM CT <s>Monday October 30</s> '''Wednesday November 1''' on Canvas.</div></td>
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<td class="diff-deletedline diff-side-deleted"><div>'''[[Media:ME449-asst3-<del class="diffchange diffchange-inline">2022</del>.pdf|Assignment 3]]''', due 1:30 PM CT Wednesday November 8 on Canvas.</div></td>
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<td class="diff-addedline diff-side-added"><div>'''[[Media:ME449-asst3-<ins class="diffchange diffchange-inline">2023</ins>.pdf|Assignment 3]]''', due 1:30 PM CT Wednesday November 8 on Canvas.</div></td>
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</table>Lynchhttps://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation&diff=26760&oldid=prevLynch: /* Approximate Syllabus and Schedule */2023-10-24T22:55:05Z<p><span dir="auto"><span class="autocomment">Approximate Syllabus and Schedule</span></span></p>
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<td class="diff-context diff-side-deleted"><div>* Wed Nov 1: '''ASST 2, DUE 1:30 PM'''. New material: through Chapter 9.3 (3 videos and 3 LCs on point-to-point trajectories, polynomial via point trajectories) '''[[Media:MRslides-ch09a.pdf|CLASS SLIDES]]'''</div></td>
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<td class="diff-context diff-side-added"><div>* Wed Nov 1: '''ASST 2, DUE 1:30 PM'''. New material: through Chapter 9.3 (3 videos and 3 LCs on point-to-point trajectories, polynomial via point trajectories) '''[[Media:MRslides-ch09a.pdf|CLASS SLIDES]]'''</div></td>
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<td class="diff-deletedline diff-side-deleted"><div>* Fri Nov 3: Chapter 9.4 (quiz, Chapter 9 through 9.3; 3 videos and 3 LCs on time-optimal time scaling) '''[[Media:MRslides-ch09b.pdf|CLASS SLIDES]]'''</div></td>
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<td class="diff-addedline diff-side-added"><div>* Fri Nov 3: <ins class="diffchange diffchange-inline"> CLASS CANCELED.</ins> Chapter 9.4 (quiz, Chapter 9 through 9.3; 3 videos and 3 LCs on time-optimal time scaling) '''[[Media:MRslides-ch09b.pdf|CLASS SLIDES]]'''</div></td>
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<td class="diff-context diff-side-deleted"><div>* Mon Nov 6: Chapter 9.4 recap. </div></td>
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<td class="diff-context diff-side-deleted"><div>* Wed Nov 8: '''ASST 3, DUE 1:30 PM'''; final project discussion</div></td>
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</table>Lynchhttps://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation&diff=26759&oldid=prevLynch: /* Approximate Syllabus and Schedule */2023-10-24T22:52:04Z<p><span dir="auto"><span class="autocomment">Approximate Syllabus and Schedule</span></span></p>
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<td class="diff-context diff-side-added"><div>* Wed Oct 25: '''MIDTERM''', chapters 2-5 (no electronic devices allowed [calculator, laptop, tablet, etc.]; study sheets and book allowed) '''[[Media:ME449-midterm-2022.pdf|2022 midterm]]''' and '''[[Media:ME449-midterm-solutions-2022.pdf|solutions]]''' (average score 22.9/32)</div></td>
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<td class="diff-context diff-side-deleted"><div>* Fri Oct 27: Chapter 8.2 (2 videos and 2 LCs on dynamics of a single rigid body) '''[[Media:MRslides-ch08c.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-context diff-side-added"><div>* Fri Oct 27: Chapter 8.2 (2 videos and 2 LCs on dynamics of a single rigid body) '''[[Media:MRslides-ch08c.pdf|CLASS SLIDES]]''' </div></td>
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<td class="diff-deletedline diff-side-deleted"><div>* Mon Oct 30: <del class="diffchange diffchange-inline"> '''ASST 2, DUE 1:30 PM'''.</del> Chapter 8.3 and 8.5 (2 videos and 2 LCs on Newton-Euler inverse dynamics, forward dynamics; quiz, Chapter 8 through 8.3) '''[[Media:MRslides-ch08d.pdf|CLASS SLIDES]]'''</div></td>
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<td class="diff-addedline diff-side-added"><div>* Mon Oct 30: Chapter 8.3 and 8.5 (2 videos and 2 LCs on Newton-Euler inverse dynamics, forward dynamics; quiz, Chapter 8 through 8.3) '''[[Media:MRslides-ch08d.pdf|CLASS SLIDES]]'''</div></td>
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<td class="diff-deletedline diff-side-deleted"><div>* Wed Nov 1: through Chapter 9.3 (3 videos and 3 LCs on point-to-point trajectories, polynomial via point trajectories) '''[[Media:MRslides-ch09a.pdf|CLASS SLIDES]]'''</div></td>
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<td class="diff-addedline diff-side-added"><div>* Wed Nov 1: <ins class="diffchange diffchange-inline"> '''ASST 2, DUE 1:30 PM'''. New material:</ins> through Chapter 9.3 (3 videos and 3 LCs on point-to-point trajectories, polynomial via point trajectories) '''[[Media:MRslides-ch09a.pdf|CLASS SLIDES]]'''</div></td>
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<td class="diff-context diff-side-deleted"><div>* Fri Nov 3: Chapter 9.4 (quiz, Chapter 9 through 9.3; 3 videos and 3 LCs on time-optimal time scaling) '''[[Media:MRslides-ch09b.pdf|CLASS SLIDES]]'''</div></td>
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<td class="diff-context diff-side-added"><div>* Fri Nov 3: Chapter 9.4 (quiz, Chapter 9 through 9.3; 3 videos and 3 LCs on time-optimal time scaling) '''[[Media:MRslides-ch09b.pdf|CLASS SLIDES]]'''</div></td>
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</table>Lynchhttps://hades.mech.northwestern.edu//index.php?title=ME_449_Robotic_Manipulation&diff=26758&oldid=prevLynch: /* Assignments */2023-10-24T22:51:20Z<p><span dir="auto"><span class="autocomment">Assignments</span></span></p>
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<td class="diff-addedline diff-side-added"><div>'''[[Media:ME449-asst2-2023.pdf|Assignment 2]]''', due 1:30 PM CT <ins class="diffchange diffchange-inline"><s></ins>Monday October 30<ins class="diffchange diffchange-inline"></s> '''Wednesday November 1'''</ins> on Canvas.</div></td>
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