After successful completion of the course, students are able to describe and analyse spatial motions by fundamental methods of spatial kinematiks and to apply them in the field of serial and parallel robotics.
Orthogonal matrices, quaternions, Euler parameters, dual quaternions, Study parameters, spear coordinates, the instantaneous screw, the linear complex of normals, relative motions, Denavit-Hartenberg parameters, forward and inverse kinematics of serial and parallel manipulators and their Jacobian matrices.