Course Outline  
Lecture (CSI 1122):  MW 12:30pm  1:45pm. P. S. Krishnaprasad 
Office Hours (AVW 2233):  M 4:006:00 pm; Tu 5:107:00 pm. 
Special Announcements (most recent first)11. Added link to WeiNorman paper on Product of Exponentials Representations. 10. Link to Lecture 3 reference material added  J. M. Selig's book, readable online and also downloadable PDF chapters; link to Roger Howe's expository paper. 9. Link to wiki page for Denavit Hartenberg paramterization added (following lecture notes 2). 8. Added a link to Kinematic Models for Design a digital library at Cornell University on Mechanisms, a very rich resource containing numerous examples, and multimedia presentations of mechanisms in action. 7. Added a link to Kinematic Synthesis of Linkages (by Hartenberg and Denavit) under the heading of "interesting resources on the web" below. This is a classic text that gives a wide variety of examples and rigorous methods for analysis of mechanisms. In contrast with the programmability inherent to robots, mechanisms are characterised by single function design (e.g. motion transfer, motion conversion  say from reciprocating to rotary, force amplifcation etc.). The book also introduces formal methods of synthesis as known in the 1960's. 6. Added a link to MurrayLiSastry book  related to Lecture 2. 5. Makeup class, Tuesday September 11, 6:00  7:30 p.m., A.V. Williams Building room 2168. 4. Notes uploaded on robotics basics (kinematics of rigid bodies, serial link manipulators, Jacobians, dynamics). 3. Added link to paper of Rust (AMM 1934) on solution to Volterra integral equation of second kind. 2. NO CLASS on September 5 (Wednesday)  I am offcampus at a conference. (see email for suggested makeup times) 1. Lecture notes (1a) and (1b) on frames, and link to Bishop paper posted. 
Lecture 1a (Frenet Serret Frame) Lecture 1b (Natural Frame or Relatively Parallel Adapted Frame)Bishop's paper (on Relatively Parallel Adapted Frame) Rust paper on Volterra integral equation of second kind (for proof of existence and uniqueness of solutions to integral equations for natural curvatures)
Lecture 2a (Kinematics, rigid motions) Lecture 2b (Kinematics of linkages, typical manipulator) Lecture 2c (Forward kinematics and Jacobians) Lecture 2d (Dynamics) A Mathematical Introduction to Robotic Manipulation (a book by R. Murray, Z. Li and S. Sastry) Denavit Hartenberg paramterization for manipulators see animation for explanation
Lecture 3 reference material (link to J. M. Selig's book Geometric Fundamentals of Robotics, Second Edition, 2005, for material on Lie algebras and Lie groups  read chapters 2, 3, 4) Roger Howe's 1983 paper (Very basic Lie theory); corrections to Howe's paper (1984)
Lecture 4 reference material  Paper of Wei and Norman (1964) on representing solutions to linear differential equations by products of exponentials (or constructing canonical coordinates of the second kind in a neighborhood of identity on a Lie group)
Lecture 5 reference material GSnakes paper on undulatory locomotion on a Lie group Two module SE(2)snake paper

Exercises are embedded in the Lecture Notes. Occasionally, some exercises may be displayed here.

Book on Kinematic Synthesis of Linkages (1964) by R. S. Hartenberg and J. Denavit
Kinematic Models for Design a digital library at Cornell University on Mechanisms
Link to biography of Sophus Lie originator of the theory of Lie algebras and Lie groups
Link to book by Daniel Liberzon on Calculus of Variations and Optimal Control
Real Analysis Book by Cinlar and Vanderbei  material useful in Systems courses
Impact of Control Technology vignettes, and, full report (warning 35 MB)
