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
SFU’s Academic Integrity website http://www.sfu.ca/students/academicintegrity.html is filled with information on what is meant by academic dishonesty, where you can find resources to help with your studies and the consequences of cheating. Check out the site for more information and videos that help explain the issues in plain English.
Each student is responsible for his or her conduct as it affects the university community. Academic dishonesty, in whatever form, is ultimately destructive of the values of the university. Furthermore, it is unfair and discouraging to the majority of students who pursue their studies honestly. Scholarly integrity is required of all members of the university. http://www.sfu.ca/policies/gazette/student/s10-01.html
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.