035001 Introduction to Robotics

035001 – Introduction to Robotics


Introduction , rigid body transformations; Rotation matrices and transformations, direct kinematics, inverse kinematics, Serial robot’s Jacobian; Singular configurations; Static forces in serial robots; kinematic considerations in robot’s design; trajectory planning in joint space and task space; Parallel robots; Dynamics of serial robots; Sensors for robotics.



  1. Lynch and Frank, “Modern Robotics,” Cambridge, 2017 (pdf available).
  2. Spong, “Robot Dynamics and Control”, Wiley, 2005.

Updated book: “Robot Modeling and Control”, Wiley, 2006.

  1. Tsai, “Robot Analysis – Mechanics of Serial and Parallel Manipulators”, Wiley, 1999.