## ME 244 Theoretical Kinematics

**Instructor:** J. M. McCarthy, 4203 EGR (824-6893)

**Text:** J. M. McCarthy, *Introduction to Theoretical
Kinematics,* MIT Press, 1990.

**Goal:** This class presents the mathematical theory
underlying the analysis of general spatial mechanisms and robots. The
focus is on rigid transformations and the determinination of the
structure equations of a kinematic chain. The differential properties
of these equations are formulated using screw theory. Quaternion
formulations of constraint manifolds are used to provide a new
definition of the workspace for a general mechanical system.

**Topics by week:**

- Displacements, Ch. 1;
- Velocity and Angular Velocity, Ch. 2;
- Screw Theory, Ch. 3;
- Quaternions, Ch. 4;
- Review, Exam;
- Mobility, Ch. 5;
- Structure Equations, Ch. 6;
- Kinematic Analysis, notes;
- Constraint Manifolds, Ch. 7;
- Review;
- Final Exam.