CS 5310/6310 & ME 5220/6220 Introduction to Robotics

Lecture Notes

1 Introduction
2 Planar transformations and displacements
3 Spatial transformations and displacements
4 Forward kinematics for position
5 Inverse kinematics for position
6 Trajectory planning
7 Velocity and acceleration
8 Velocity kinematics
9 Statics
10 Dynamics
A Appendix: Review of Linear Algebra