MANTECH 4RM3
Robot Mechanics and Mechatronics
Winter 2026 · C01
Topics
- Sensors for Automation • Potentiometer for position feedback • Encoders Demo: Printer with Stepper Motors
- Advanced Kinematics • Mobile Frames & Fixed Frames • Joint Space, World Space & Tool Space • Coordinate Frames, Translations & Rotations • Homogeneous Transformation • Inverse Transformations
- "Piece of Cheese" Example • Relating 3D Robot Frames for Tracking Objects
- D-H Algorithm Week 1 • Review for Test #2
- D-H Algorithm Week 2 Velocities & Jacobian • Joint Space vs Cartesian Space Trajectories • Multiple-Joint Coordinated Motion • Velocity Analysis & Jacobian Matrix • Force Control and Singularities
- Trajectory Generation • Popular PEO Questions on Trajectory Generation • And a few other examples
Readings
- The following are useful if you need an alternate explanation of course material:
- Introduction to Robotics: Analysis, Control, ApplicationsWiley
- Introduction to Robotics: Mechanics and ControlPearson
Winter 2022
Topics
- Theories behind operation and control of various motors
- Sensors commonly used
- First introduced
- Micro controllers
- Robot types
- Categories and workspace analysis methods are examined
- Forward kinematics
- Inverse kinematics
- D-H algorithm
- Trajectory planning
- Robot force control
Readings
- Introduction to Robotics – Mechanics & Control, 4th edition; J.J. Craig, Pearson Prentice Hall, 4th edition 2017; ISBN 9780133489798ISBN 9780133489798
Sources
- Course catalogue ↗2026–2027
- Academic calendar ↗
- Campus Store reading list ↗Winter 2026
- Course outline / syllabus ↗Winter 2026
- Course outline / syllabus ↗Winter 2022
- The outline explicitly states that no textbook is required. The source explicitly says no books/textbook are required; other assigned readings may still apply.