Summer 2025 - MSE 429 D100
Advanced Kinematics for Robotic System (3)
Class Number: 4485
Delivery Method: In Person
Overview
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Course Times + Location:
May 12 – Aug 8, 2025: Wed, 9:30 a.m.–12:20 p.m.
Surrey
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Instructor:
Ramtin Rakhsha
rrakhsha@sfu.ca
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Prerequisites:
MSE 222 and minimum of 80 units.
Description
CALENDAR DESCRIPTION:
Introduction to kinematics of robot manipulators (serial and parallel). Serial: Forward and inverse kinematics for manipulators with spherical and non-spherical wrists. Parallel: Loop-closure equations and methods for solving polynomial systems. Trajectory generation: Joint and Cartesian spaces. Jacobians, velocity and static force analyses, singularities (kinematic, static and architectural). Introduction to dynamics. Students with credit for MSE 490 - Advanced Kinematics for Robotic Systems (Fall 2016) cannot take MSE 429 for further credit. ENSC students declared as Systems Option majors may not take this course.
Materials
REQUIRED READING NOTES:
Your personalized Course Material list, including digital and physical textbooks, are available through the SFU Bookstore website by simply entering your Computing ID at: shop.sfu.ca/course-materials/my-personalized-course-materials.
Registrar Notes:
ACADEMIC INTEGRITY: YOUR WORK, YOUR SUCCESS
At SFU, you are expected to act honestly and responsibly in all your academic work. Cheating, plagiarism, or any other form of academic dishonesty harms your own learning, undermines the efforts of your classmates who pursue their studies honestly, and goes against the core values of the university.
To learn more about the academic disciplinary process and relevant academic supports, visit:
- SFU’s Academic Integrity Policy: S10-01 Policy
- SFU’s Academic Integrity website, which includes helpful videos and tips in plain language: Academic Integrity at SFU
RELIGIOUS ACCOMMODATION
Students with a faith background who may need accommodations during the term are encouraged to assess their needs as soon as possible and review the Multifaith religious accommodations website. The page outlines ways they begin working toward an accommodation and ensure solutions can be reached in a timely fashion.