Models of Robotic Manipulation


Mircea Teodorescu || || Office: E2 - 237b

Number of Units: 5 

Summary: Mathematical models of arbitrary articulated robotic as well as biological arms and their application to realistic arms and tasks, including the homogeneous coordinate model of positioning tasks, the forward and inverse kinematic models, the Jacobian Matrix,
and the recursive Newton-Euler dynamic model. 


linear algebra and graduate standing or permission of instructor 

Assignments & Grading: 

Problem Sets 25% || Mid Term (Take Home) 25% || Final Exam (Take Home) 50% 


John Craig, Introduction to Robotics: Mechanism & Control, 3rd Edition, Pearson – Prentice Hall 2005 


Instructors and Assistants