ROB 510: Robot Kinematics and Dynamics (Graduate Standing)

Project Status: Completed (A in Winter 2025).

For more details, please refer to the syllabus.

Abstract: Rigid-body geometry and screw theory (rotation/transformations, exponential coordinates, twists/wrenches), robot kinematics (PoE & D-H, forward/inverse kinematics, Jacobian), and dynamics via Euler–Lagrange with properties of manipulator equations—followed by multivariable nonlinear control (Lyapunov stability, PD/feedback linearization, inverse dynamics, adaptive & passivity-based, force/impedance control). Students will model and simulate manipulators/mobile robots and design nonlinear controllers using MATLAB/Mathematica.