1. |
03.10 |
Introduction, lectures, labs,
test-alpha [slides] |
2. |
10.10 |
Affine, Euclidean space, coordinate system, distance, angle,
right-handed basis, orientation of 4-tuple of points. Motion as a change of coordinate systems and transformation of coordinates [slides]. |
3. |
17.10 |
Denavit-Hartneberg Convention I [slides] |
4. |
24.10 |
Denavit-Hartneberg Convention II |
5. |
31.10 |
Screw motion [slides] |
6. |
14.11 |
|
7. |
21.11. |
Polynomials
[slides] |
8. |
28.11. |
Polynomials |
9. |
05.12. |
Monomial ordering and division by
polynomials [slides] |
10. |
12.12 |
Groebner basis [slides] |
11. |
19.12 |
|
12. |
09.01 |
Solving algebraic equations using Groebner bases [slides] |
|
|
|
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|
Náplň |
Test |
Dom. úkol |
1. |
03.10 |
Liner space, eigenvalues |
alpha-test |
|
2. |
10.10 |
Liner space, eigenvalues |
alpha-test |
HW-01: alg. eqns & eig |
3. |
17.10 |
DH-Convention,
Staubli
TX-90 |
|
HW-02: DH-Kinematics |
4. |
24.10 |
DH-Convention |
|
HW-03: DH-Kinematics |
5. |
31.10 |
DH-Convention & trivial direct
& inverse kinematics |
|
HW-04: trivial inverse kin. |
6. |
14.11. |
Inverse
kinematics in Maple
2 axes of motion |
|
HW-05: Kinematics
- 2 axes |
7. |
21.11. |
Inverse
kinematics in Maple 2->3 axes of motion |
|
HW-06: Kinematics
- 3 axes |
8. |
21.11. |
Inverse
kinematics in Maple 2->3 axes of motion |
|
HW-07: Kinematics
- 3 axes |
9. |
21.11. |
Division by
polynomials in more variables |
|
HW-08: Division
by polynom. |
10. |
12.12 |
Monomial ordering and division by
polynomials |
|
|
11. |
19.12 |
Groebner basis |
|
|
12. |
09.01 |
Solving algebraic equations using
Groebner bases |
|
|
|
|
|
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