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! Also check out the GeoLib library for implementing a lot of the low level functions.

  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