Credits: 3

Semesters Offered

Fall 2017, Fall 2018, Fall 2019, Fall 2022, Fall 2023, Fall 2024

Learning Objectives

The primary goal of this course is to acquaint the students with the fundamentals of robot design and control and different areas of research that lead to the development of medical robotic systems.

Topics Covered

  • Review of Mathematical Preliminaries and Introduction to Medical Robotics 
  • Robot Forward Kinematics - Position, velocity, and acceleration analysis 
  • Robot Inverse Kinematics 
  • Manipulator Jacobian 
  • Introduction to Robot Dynamics
  • Introduction to medical image guidance
  • Medical robot design and control


Learning Outcomes

  • an ability to apply knowledge of mathematics, science, and engineering
  • an ability to design and conduct experiments, as well as to analyze and interpret data
  • an ability to design a system, component, or process to meet desired needs within realistic constraints such as economic, environmental, social, political, ethical, health and safety, manufacturability, and sustainability
  • an ability to function on multi-disciplinary teams
  • an ability to identify, formulate, and solve engineering problems
  • an understanding of professional and ethical responsibility
  • an ability to communicate effectively
  • the broad education necessary to understand the impact of engineering solutions in a global, economic, environmental, and societal context
  • a recognition of the need for, and an ability to engage in life-long learning
  • a knowledge of contemporary issues
  • an ability to use the techniques, skills, and modern engineering tools necessary for engineering practice
  • an ability to work professionally in both thermal and mechanical systems areas

Additional Course Information



Robot Modeling and Control, by Mark W. Spong, Seth Hutchinson, and M. Vidyasagar.  Wiley Publishers. ISBN (10-digit): 0471649902; ISBN (13-digit): 978-0471649908, 

Class/Laboratory Schedule 

  • Two 75 min lecture session per week
Last Updated By 
Axel Krieger, July 2017