Standard syllabus
Robotics · Graduate · Engineering
Topics
Kinematics and modeling
- Robot configurations: serial, parallel, mobile
- Homogeneous transformations and DH parameters
- Forward kinematics for manipulators
- Inverse kinematics: geometric and algebraic methods
- Jacobian matrices and differential kinematics
- Singularities and manipulability ellipsoids
- Workspace analysis and reachability
- Mobile robot kinematics: differential drive
- Trajectory generation in joint and Cartesian space
- Path planning: visibility graphs and sampling methods
Dynamics and control
- Lagrange equations for robot dynamics
- Recursive Newton-Euler algorithm
- Inertia matrices and Coriolis terms
- Computed torque control
- PID control in joint space versus task space
- Impedance and admittance control intro
- Force control and hybrid position-force schemes
- Vision-based servoing overview
- Sensor integration: encoders, IMU, LiDAR
- Safety standards ISO 10218 awareness
Pricing
Graduate-level rates are set on consultation. See the pricing page for K–12 and undergraduate rates.