Geometric Robotics
Robotics is a very visual discipline, and I found that these tools helped myself and my students to have a clearer understanding of the materials covered in the course. Feel free to use the provided materials but please acknowledge the source!

  1. 01. Rotations, Translations, and Homogeneous Transforms
  2. 02. Forward Kinematics and the Product of Exponentials
  3. 04. Inverse Kinematics
  4. 05. Velocities & Jacobians
  5. 06. Jacobians & Wrenches 
  6. 07. Dynamics
  7. 08. Parameter Identification, State Estimation & Control 

‘Rob is an instructor who does not wear shoes’
-sterling praise from a former student