
 Time:
 T, Th
6:308:00pm

Room:
 CS 253

Instructor:
 J. M. McCarthy, EG
4203 (8246893)
Required
Texts:
 McCarthy, J. M.,
Introduction to
Theoretical Kinematics, MIT Press, 1990.
 Craig, J. J.,
Introduction to
Robotics, 2nd ed., AddisonWesley, 1986.
 Reference
Texts:
 Crane and Duffy,
Kinematic
Analysis of Robot Manipulators.
 Hunt, Kinematic Geometry of
Mechanisms.
 Bottema and Roth,
Theoretical
Kinematics.
 Tsai, L.W.,
Analysis of
Robots Manipulators
 Goal:
 This class presents
the geometric analysis of articulated mechanical systems.
The emphasis is on developing the kinematics equations for serial
open chains, solving the inverse kinematics problem to
determine the joint parameters to achieve a desired
position, and understanding the use of the Jacobian of
the system for rate control, static analysis and to
determine singular configurations. This mathematical
theory lies at the foundation for the analysis, design,
and control of robotic systems.

Course
Outline:
1.

Jan. 11,
13

Overview,
Planar Kinematics Equations

2.

Jan. 18,
20

Coordinate
Screw Displacements, Rotation Matrices

3.

Jan. 25,
27

Screw Axes,
Lines, and the DenavitHartenberg
Convention

4.

Feb. 1,
3

Kinematics
Equations, Inverse Kinematics

5.

Feb. 8, 10

3R Wrist,
Example Robots

6.

Feb.
22, 24

Piepers
Solution

7.

Feb. 29, Mar.
2

Velocities,
Recursive Formulation

8

Mar. 7,
9

Jacobian,
Screw Jacobian

9.

Mar. 14,
16

Principle of
Virtual Work, Static Analysis

10.

Mar. 21,
23

Singular
Configurations


March 28,
2000

Take Home
Final Exam Due.

