• Introduction
• Degrees of Freedom (DOFs)
• Kinematic chain of rigid body mechanisms
• Six DOFs Robot
• Forward kinematics
• Position and orientation
• Linear and angular velocity
• Jacobian
• Orientation vectors (a,n,s)
• Inverse kinematics
• Kinematic decoupling
• Position and orientation
• Velocity and acceleration
• Trajectory planning
• Force feedback
• Haptic devices
• Gravitational compensator
• Designing virtual objects

Documents

• Kinematics (28/08/26)
• Trajectory Planning (08/09/26)

Slides

• Introduction to the course (08/09/26)
• Kinematics (08/09/26)

Laboratory

• Software for the PhantomX Reactor robot (Deliverable D2) (08/09/26)

Bibliography

• M. Spong and M. Vidyasagar. Robot Dynamics And Control. 1989. John Wiley Sons.
• J.J. Craig. Introduction to Robotics. Mechanics And Control. 1986. Addison-Wesley Publishing Company, Inc.
• R.M. Murray, Z. Li and S.S. Sastry. A Mathematical Introduction to Robotic Manipulation. 1994. CRC Press, Inc.

Groups list

Deliverables

• D1. Forward and inverse kinematics (Individual, 20%)
Deadline 15/09/2026 - 08:59
Statement D1 (28/08/26)


• D2. Trajectory planning (Group, 40%)
Deadline 29/09/2026 - 08:59
Statement D2 (09/09/26)

September

• 08/09/2026: Introduction. DOFs, kinematic chains, forward kinematics, orientation vectors and inverse kinematics
• 15/09/2026: Trajectory planning. Laboratory*
• 15/09/2026: Deliverable D1 (8:59)
• 22/09/2026: Laboratory*
• 29/09/2026: Haptic devices. Laboratory*
• 29/09/2026: Deliverable D2 (8:59) To be confirmed

October

• 06/10/2026: Laboratory*
• 13/10/2026: Laboratory*
• 27/10/2026: Exo-Laboratory*
• 27/10/2026: Deliverable D3 (12:59) To be confirmed

* This laboratory could be extended during the afternoon.