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Lecture Notes

  1. Chapter 4: Rigid Body Motions
  2. Chapter 5: Forward Kinematics
  3. Chapter 6: Velocity Kinematics and Statics
  4. Chapter 7: Inverse Kinematics of Open Chains
  5. Chapter 8: Kinematics of Closed Chains
  6. Chapter 9: Dynamics of Open Chains
  7. Chapter 10: Robot Control

Chapter 4: Rigid Body Motions
Chapter 4 covers the rigid body motions, and can be broken up into three parts: the first part (covered in Part I of the course) covers rotations and rigid body transformations and their various representations. The second part covers screw motions, while the third part covers velocities, forces, and moments and their six-dimensional representations. For Part II of the course, we shall begin with screw motions.
Click here to download Chapter 4.

Chapter 5: Forward Kinematics
Chapter 5 covers the forward kinematics of open chains. The first part of the chapter (covered in Part I of the course) introduces the Denavit-Hartenberg representation for the forward kinematics, while the second part covers the product of exponentials (PoE) formula. For Part II, we shall begin with the PoE formula, which requires an understanding of the screw motion material covered in Chapter 4 on rigid-body motions.
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Chapter 6: Velocity Kinematics and Statics
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Chapter 7: Inverse Kinematics of Open Chains
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Chapter 8: Kinematics of Closed Chains
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Chapter 9: Dynamics of Open Chains & Chapter 10: Robot Control
Chapter 9, covering robot dynamics, is not covered in this course, and is only included here for those who may be interested in learning robot dynamics on their own. Only the first part of Chapter 10 on robot control, specifically the sections related to PID control, are covered in this course. For those interested in learning more about robot control, we included the entire chapter for completeness. (Note: The chapter on control was authored by Kevin Lynch of Northwestern University.)
Click here to download Chapter 9. & Click here to download Chapter 10.