# |
Topic |
Youtube |
Notes |
Code |

Lec00 |
Use custom python interpreter for Spyder on Windows |
Video |
None |
None |

Lec01a |
Syllabus |
Video |
None |
None |

Lec01b |
Python Basics |
Video |
None |
Code |

Lec02 |
Python Plots and Animation |
Video |
None |
Code |

Lec03 |
Coordinate Frames and Homogenous Transformations |
Video |
PDF |
None |

Lec04 |
2D Manipulator, Forward and Inverse Kinematics |
Video |
PDF |
Code |

Lec05a |
Differential Drive, Forward Kinematics |
Video |
PDF |
Code |

Lec05b |
Differential Drive, Inverse KinematicsĀ |
Video |
see above |
see above |

Lec06a |
Introduction to Jacobian |
Video |
PDF |
Code |

Lec06b |
Application of Jacobian, computing Linear Velocity |
Video |
see above |
see above |

Lec06c |
Application of Jacobian, computing Static Forces |
Video |
see above |
see above |

Lec06d |
Application of Jacobian, inverse kinematics |
Video |
see above |
see above |

Lec07 |
2D Dynamics, Euler-Lagrange, Projectile motion |
Video |
PDF |
Code |

Lec08 |
Symbolic computation of Euler-Lagrange Equations |
Video |
PDF |
Code |

Lec09 |
Euler-Lagrange Double Pendulum |
Video |
PDF |
Code |

Lec10 |
Introduction to Optimization |
Video |
PDF |
Code |

Lec11 |
Trajectory Optimization |
Video |
PDF |
Code |

Lec12a |
Introduction to Trajectory Generation |
Video |
PDF |
Code |

Lec12b |
Trajectory Generation, Solved Examples |
Video |
see above |
see above |

Lec13a |
Feedback Linearization, Motivation |
Video |
PDF |
Code |

Lec13b |
Feedback Linearization, N-dimensional system |
Video |
see above |
see above |

Lec13c |
Feedback Linearization, Joint and Task Space |
Video |
see above |
see above |

Lec14a |
Linear Control, Controllability, Pole Placement, LQR |
Video |
PDF |
Code |

Lec14b |
Linearization of differential drive car and pendubot |
Video |
see above |
see above |

Lec15 |
Bicopter, a 2D quadcopter |
Video |
PDF |
Code |

Lec16 |
3D Rotations |
Video |
PDF |
Code |

Lec17 |
3D Angular Velocity |
Video |
PDF |
Code |

Lec18a |
Forward Kinematics of Manipulators, Denavit Hartenberg |
Video |
PDF |
Code |

Lec18b |
Example 1, Denavit Hartenberg, 2R planar manipulator |
Video |
see above |
see above |

Lec18c |
Example 2, Denavit Hartenberg, 1R 2P 3D manipulator |
Video |
see above |
see above |

Lec18d |
Example 3, Denavit Hartenberg, 3R 3D manipulator/animations |
Video |
see above |
see above |

Lec19 |
Inverse Kinematics of 3D Manipulators, Stanford ManipulatorĀ |
Video |
PDF |
Code |

Lec20 |
3D Dynamics |
Video |
PDF |
Code |