MEC 529: Introduction to Robotics

Course Description

This course provides an overview of fundamental concepts in Robotics including kinematics and trajectory generation within the context of serial robotic manipulators. The main focus of the course will be on configuration space of robots, different representations of the configuration of a rigid body, forward and inverse position and velocity kinematics problem of serial manipulators, Jacobian and singularity analysis, and planning techniques. This course is intended for graduate students with an interest in Robotics. Advanced undergraduates with a demonstrated interest in Robotics are also welcome. Prerequisites include a knowledge of undergraduate-level kinematics, a foundation in linear algebra and calculus, and the ability to program in MATLAB.

Course Syllabus

Syllabus

References

  • Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Cambridge University Press, 2017 [Publisher, Amazon, PDF].
  • Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, Robotics: Modelling, Planning and Control, Springer, 2009 [Publisher, Amazon].
  • Mark W. Spong, Seth Hutchinson, M. Vidyasagar, Robot Modeling and Control, 2nd Edition, John Wiley & Sons Inc, 2020 [Publisher, Amazon].
  • Richard M. Murray, Zexiang Li, and S. Shankara Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994 [Publisher, Amazon].
  • John Craig, Introduction to Robotics: Mechanics and Control, 4th Edition, Pearson, 2018 [Publisher, Amazon].

Course Materials