Freebody diagrams, constraints, friction, center of gravity and moment of inertia. Virtual displacement, principle of virtual work, potential energy and equilibrium. Types of motion, force, acceleration. Work and energy, impulse and momentum, impact. Configuration space, task space, rigid body transformations. Manipulator kinematics, forward and inverse kinematics. Forward and inverse dynamics. Hybrid systems, introduction to walking robots.
References:
- Ruina, Andy and Pratap, Rudra, Introduction to Statics and Dynamics, Oxford University Press, 2011.
- Murray, Li and Sastry, A Mathematical Introduction to Robot Manipulation, CRC Press, 1994
- A. Ghosal, Robotics: Fundamental Concepts and Analysis, Oxford, 2006