Past Lectures
A complete list of lectures from previous offerings of ECE 4560.
Fall 2025
- Lecture 1 - Planar Kinematics
- Lecture 2 - Rotation Matrices
- Lecture 3 - Transformations
- Lecture 4 - Homogeneous Coordinates
- Lecture 5 - Introduction to Velocity
- Lecture 6 - Angular Velocity and Twists
- Lecture 7 - Velocity Overview
- Lecture 8 - Exponential Representation of Rotations
- Lecture 9 - Exponential Representation of Motion
- Lecture 10 - Midterm Review
- Lecture 11 - Introduction to Manipulators
- Lecture 12 - Forward Kinematics
- Lecture 13 - Inverse Kinematics 1
- Lecture 14 - Inverse Kinematics 2
- Lecture 15 - Manipulator Jacobian 1
- Lecture 16 - Manipulator Jacobian 2
- Lecture 17 - Jacobians and Singularity Analysis
- Lecture 18 - Trajectory Design 1
- Lecture 19 - Trajectory Design 2
- Lecture 20 - Trajectory Design 3
- Lecture 21 - Trajectory Design 4
- Lecture 22 - Wrenches and Forces
- Lecture 23 - Introduction to Control
- Lecture 24 - Control for Locomotion
- Lecture 25 - Exam Review
Fall 2024
- Lecture 1 - Introduction to Rigid Body Motion
- Lecture 2 - Planar Coordinates and Rotations
- Lecture 3 - Planar Transformations
- Lecture 4 - Lie Group and Homogeneous Coordinates
- Lecture 5 - Introduction to Velocity
- Lecture 6 - Angular Velocity and Twists
- Lecture 7 - Vectors - Velocity Overview
- Lecture 8 - Exponential Representation of Rotations
- Lecture 9 - Exponential Representation of Motion
- Lecture 10 - Midterm Review
- Lecture 11 - Introduction to Manipulators and Manipulator Kinematics
- Lecture 12 - Forward Kinematics
- Lecture 13 - Inverse Kinematics 1
- Lecture 14 - Inverse Kinematics 2
- Lecture 15 - Manipulator Jacobian 1
- Lecture 16 - Manipulator Jacobian 2
- Lecture 17 - Jacobians and Singularity Analysis
- Lecture 18 - Trajectory Design 1
- Lecture 19 - Trajectory Design 2
- Lecture 20 - Trajectory Design 3
- Lecture 21 - Trajectory Design 4
- Lecture 22 - Wrenches and Forces
- Lecture 23 - Introduction to Control
- Lecture 24 - Control for Locomotion
- Lecture 25 - Final Review