Roy's Teaching Materials
The materials on this page are available for anyone to use for the purpose of
self education. For any other purpose, you must seek Roy's permission
Materials for Courses Taught at IIT, May 2022
This year, like last year, the courses will be taught via Microsoft
Teams. As usual, they are open to everyone. However, in order
for you to participate, it will be necessary for you to contact Roy via his
IIT email (email@example.com) if you wish to attend because the links
for the classes will not be made public. Do this at least two days
before the start of the course. University of Genoa students wishing to
earn credits for taking these courses should both register in the usual
way via the University's website and send an email to Roy.
Students at other universities who wish to earn credits must discuss the
matter with their own course coordinator in order to obtain approval, but, of
course, are welcome to attend anyway. Attendance certificates will be
issued to those who need them.
Introduction to Spatial (6D) Vectors
Computational Robot Dynamics
In both courses, you will be expected to solve problems during the classes, so
remember to have pen/pencil and paper ready. In the second course, you
will also be expected to write a few small Matlab
(or GNU Octave) functions
using the library Spatial_v2.
A Tutorial for Beginners
Some Books and Papers
Robot Dynamics Algorithms (1987).
This is the original book on dynamics algorithms and spatial
vectors. Although it is still worth reading, it has been
superceded by the book below. The treatment of spatial vectors
in this book is a little different from the modern treatment.
Rigid Body Dynamics Algorithms (2008).
This is the new book on dynamics algorithms and spatial vectors.
It is the main reference on these two topics.
Springer Handbook of Robotics (2008,
Chapter 2 in the first edition
Chapter 3 in the second edition
are almost identical) cover the basics of spatial vector algebra and
recursive dynamics algorithms, as well as providing a bit of history and
an extensive list of references.
Robot Dynamics: Equations and
This is a survey paper on robot dynamics. It contains a brief
description of spatial vector algebra and the most important algorithms.
Plücker Basis Vectors
This paper discusses Plücker coordinates, Plücker basis
vectors and rigid-body acceleration using a mathematical tool called a
More Stuff on Spatial Vectors and Dynamics
A Short Course on Spatial Vector Algebra
This is an old introductory course (written in 2008) that takes
approximately one or two days, depending on how much you already
know. The materials are intended to be suitable for self study.
a one-hour seminar on spatial vectors which is
even older than the short course, but gets to the point very quickly in
order to fit into just one hour
a 2-body worked example comparing the solution of a simple
rigid-body dynamics problem using 3D vectors with the solution of the
same problem using spatial vectors:
Last modified: May 2022
Author: Roy Featherstone