Lecture Notes

The lecture notes for this class are in the form of chapters from a possible future edition of Professor Asada's robotics textbook.

Chapter 1: Introduction (PDF)

Chapter 2: Actuators and Drive Systems (PDF)

Chapter 3: Robot Mechanisms (PDF)

Chapter 4: Planar Kinematics (PDF)

Chapter 5: Differential Motion (PDF)

Chapter 6: Statics (PDF)

Chapter 7: Dynamics (PDF)

Chapter 9: Force and Compliance Controls (PDF)

(Chapter 8 is not available)