Introduction to Robotics

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)

Assignments

Problem Set 1 (PDF)

Problem Set 2 (PDF)
simple_sim program for Problem Set 2 (ZIP) (The ZIP file contains C++ source code; see \doc\simple_sim.pdf for documentation.)

Problem Set 3 (PDF)

Problem Set 4 (PDF)

Problem Set 5 (PDF)

Problem Set 6 (PDF)

Problem Set 7 (PDF)

Problem Set 8 (PDF)

Exams

This page includes the midterm exam and several practice exams for study.

Midterm Exam (PDF)

Exams for Study

2004 Midterm Exam (PDF)

Practice Final Exam 1 (PDF)

Practice Final Exam 2 (PDF)