KON 443E - Vector-Based Modeling of Robotic Systems

Course Objectives

1. To introduce coordinate-free and vector-based approaches for modeling robotic systems.
2. To develop analytical skills in applying advanced linear algebra, screw theory, and exponential coordinates to robot kinematics.
3. To provide a foundation in spatial operator algebra (SOA) for systematic analysis of robot motion and configuration.
4. To enable students to model, evaluate, and simulate kinematic behavior of manipulators using modern algebraic techniques.
5. To cultivate geometric intuition and algorithmic thinking in solving inverse kinematics and obstacle avoidance problems.

Course Description

Coordinate-free methods for robotic modeling · Vectorial and geometric approaches · Screw theory · Exponential coordinates · Manipulability and singularity analysis · Spatial operator algebra (SOA) · Advanced linear algebra tools · Kinematic modeling and redundancy resolution · Obstacle avoidance algorithms · MATLAB-based simulation and implementation