Fundamentals of robotics, rigid motions, homogeneous transformations, forward kinematics, inverse kinematics, velocity kinematics, dynamics, and laboratory projects.  Topics include:

• Historical development of robots; basic terminology and structure; robots in automated manufacturing
• Rigid motions and homogeneous transformations
• Rotations and their composition; Euler angles; roll-pitch-yaw; angular velocity and acceleration; homogeneous transformations
• Forward kinematics: common robot configurations; Denavit-Hartenberg convention; A-matrices; T-matrices; examples
• Inverse kinematics: planar mechanisms; geometric approaches; spherical wrist
• Velocity kinematics: the Jacobian; singular configurations, manipulability; singular values; pseudoinverse

Spong and Vidyasagar, Robot Dynamics and Control, Wiley & Sons, 1989.

MATH 315 or MATH 318 or consent of instructor.

2 hours or 1/2 unit.

• Timetable