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ME 221: Kinematics and Dynamics of Robots
Department of Mechanical Engineering
University of California, Riverside
Fall 2021

Instructor: Jonathan Realmuto
Assistant Professor
Department of Mechanical Engineering
jrealmut@ucr.edu
Meeting Time: M/W 10-11:50am
HMNSS 1404
Office Hours: by appointment
Book: Theory of Applied Robotics
Reza N. Jazar
online edition available through the UCR library
Other References: Modern Robotics
Kevin M. Lynch and Frank C. Park
A Mathematical Introduction to Robotic Manipulation
Richard M. Murray, Zexiang Li, and S. Shankar Sastry
Springer Handbook of Robotics
Editors: Bruno Siciliano and Oussama Khatib
Links: Syllabus
Project description
Presentation Schedule



Tentative Schedule
Week Date Topic Reading Lecture Notes Homework Presentation
1
  • 9/27
  • 9/29
  • Course overview
  • Rotation and orientation
  • Ch.1
  • Ch.2-3
2
  • 10/4
  • 10/6
  • Motion kinematics
  • Forward kinematics
  • Ch.3-4
    Murray Ch.2
  • Ch.4-5
3
  • 10/11
  • 10/13
  • Screws and Inverse kinematics
  • Inverse kinematics
  • Ch. 4.5-10, 6.1-2
  • Ch. 6.3-5
4
  • 10/18
  • 10/20
  • Angular velocity
  • Velocity kinematics
  • Ch.7
  • Ch.8
  •  
  • Project Proposal Due
5
  • 10/25
  • 10/27
  • Acceleration kinematics / review
  • *Midterm Exam*
6
  • 11/1
  • 11/3
  • Motion Dynamics
  • Robotic Dynamics
7
  • 11/8
  • 11/10
  • Path Planning
  • Robot Control
8
  • 11/15
  • 11/17
  • Robot Control
  • Walking and Parallel Robots
9
  • 11/22
  • 11/24
  • Compliant and Soft Robots
  • Physical Human-Robots Interaction
10
  • 11/29
  • 12/1
  • *Project Presentations*
  • *Final Exam*