This course focuses on the modeling, dynamics, and control of robotic manipulators. Topics covered include 2D planar position and velocity kinematics, Relative position, the rotation matrix, Composition of rotations, Parameterizations of rotation, the similarity transformation, Switching rotation parameterizations, Rigid body motions, Denavit Hartenberg convention, Inverse kinematics, forward kinematics on the Puma and other robotic manipulators, angular velocity and its representation, the Jacobian and singularities with examples, Jacobian with forces & accelerations, Newtonian Dynamics, Lagrangian dynamics, Independent joint control, Feedback linearization / computed torque control, path and trajectory planning, and dynamics