3.0

Average Course Rating

A theoretical treatment of the kinematics of mechanisms, machines, and robotic manipulators intended for (though not restricted to) graduate students. Topics include parameterizations of spherical motion - Euler angles, Rodrigues parameters, unit quaternions, the matrix exponential; analysis of planar and spatial linkages; robot kinematics - forward and inverse kinematics, singularities, elementary topological issues; theory of wrenches and twists; research issues in robot kinematics - redundancy resolution, grasping and rolling contact, steering of nonholonomic systems. Other advanced topics will be covered as time permits. Recommend Course Background: Undergraduate linear algebra and multivariable calculus.