授業の目標 
This class primarily covers issues related to kinematics, dynamics and
control with reference to robots. The first few lectures are spent on
kinematics, mainly coordinate transformations and kinematic
representations of robot structures. Also a few hours of classes are
devoted to an introduction of analytical mechanics such as Lagrangian
dynamics, constraints, the principle of virtual work and so on, whose
understanding is essential for students to learn more advanced issues in
robot dynamics and control later. The third portion of the class will
cover stability issues of control, linear and nonlinear.

