At the end of this course, the aim is for the student to be able to:

• Know 3D coordinate systems and translation and rotation representations in 3D space,
• Combine successive translations and rotations to coordinate systems,
• Derive the task-space robot motion (end effector or robot body)  given the motions of the actuators,
• Understand and apply the Jacobian,
• Derive the task-space velocities (end effector or robot body) given the velocities of the actuators,
• Derive the task-space forces (end effector or robot body) given the forces/torques of the actuators,
• Model the dynamics of robotic systems using Euler-Lagrange and Newton-Euler Formulation,
• (Plan trajectories for the end-effector (or robot body) and translate these into joint space)
• (Apply joint-space control strategies for controlling robot motion along the planned trajectries)