Students will be able to define the orientation of rigid body using the rotation group SO(3). They will also be able to describe rigid body translation and rotation using homogeneous transformation matrices and the Euclidean group SE(3).

Students will be able to compute forward and inverse kinematic solutions for serial robot arms.

Students will be able to derive the dynamic equations for a rigid serial manipulator using recursive Newton-Euler and Euler-Lagrange methods. Students will be able to apply these equations for numerical simulation and common control methods.

Students will understand the difference between joint space and Cartesian space and be able to use appropriate mathematical methods to move from one space to the other for both kinematics and dynamics.

Students will be able to implement and simulate performance for fundamental feedback control methods for serial robot arms.

Students will learn about common robot applications and terminology, and then apply what they learn to solve an open question in the field or implement a demonstration for a final course project.