The mechanics of robots, comprising kinematics, dynamics, and trajectories. Planar, spherical, and spatial transformations and displacements. Representing orientation: Euler angles, angle-axis, and quaternions. Velocity and acceleration: the Jacobian and screw theory. Inverse kinematics: solvability and singularities. Trajectory planning: joint interpolation and Cartesian trajectories. Statics of serial chain mechanisms. Inertial parameters, Newton-Euler equations, D'Alembert's principle. Recursive forward and inverse dynamics. Enrollment Requirements: Prerequisites: "C-" or better in ((MATH 2250 OR MATH 2270) AND PHYS 2210 OR AP Physics C: Mech score of 4 or better) AND (Full Major status in Computer Science OR Computer Engineering).