I was the Teaching Assistant for Spring and Fall 2025 at Johns Hopkins University.
Introduction
Graduate-level introduction to the mechanics of robotic systems with emphasis on the mathematical tools for kinematics and dynamics of robotic systems.
Topics include:
- Geometry and mathematical representation of rigid body motion
- Manipulator kinematics including forward and inverse kinematics of articulated robot arms
- Differential kinematics
- Manipulator dynamics and control.
- Additional special topics such as trajectory generation, actuation, and design issues will be considered as time permits.
Note
Detailed information is limited due to copyright.
Textbook
- Richard M. Murray, Zexiang Li, and S. Shankar Sastry. A Mathematical Introduction to Robotic Manipulation. CRC Press.