Basics of Mechanics for Robotics
Download in PDF- Lecturer: Viviane PASQUI (pasqui@isir.upmc.fr)
- Course code: UM4RBT15
- Student workload: 16 h of lectures, 14 h of tutorials
- Credits: 3 ECTS
- Specialization tracks: ROBOT (elective) SI MeDH (elective)
- Semester offered: S1 S2 S3 S4
- Language of instruction: French English
- Targeted audience: Eng. Sc. department Other :
- Localization : PMC Campus Other :
Course Overview
This course aims to bring students coming from an electrical engineering degree up to academic level in mechanics.
Mots-clés : Mathematical tools, Rigid solid mechanics, kinematic torsor, kinetic torsor, dynamic torsor
Prerequisites
Students should have previously acquired the following prerequisites to follow this course:
- Trigonometric functions, matrix calculus, differential calculus
Intended Learning Outcomes
By the end of this course, students will be able to:
- Know and know how to apply the following mathematical tools to a mechanical problem: trigonometric functions, vector calculus, differential calculus
- Identify and characterize the elementary bonds between solids (embedded, pivot, slide, ball joint, etc.) and their effects on possible movements/transmissible forces between components.
- Position a solid in space and determine its kinematic torsor to accurately describe its speed of translation and rotation.
- Model a mechanical action and apply the Fundamental Principle of Statics to determine the equilibrium conditions of a system.
- Calculate the momentum of a moving solid with respect to a Galilean frame and apply the Fundamental Principle of Dynamics to analyze its dynamical behavior.
Indicative Teaching Sequence and Methods
| Week | C/TD/TP* | Content | Preparation | Learn.\ outc. |
|---|---|---|---|---|
| W1 | C1 | Trigonometric functions, vector calculus, linear applications, matrix calculus, differential calculus | AAV1 | |
| W1 | TD1 | Training on the mathematical tools seen in class | AAV1 | |
| W2 | C2 | Locating a solid in space and elementary connections. | AAV2 | |
| W2 | TD2 | Calculate the position and orientation of a solid in space in an orthonormal coordinate system. | AAV2 | |
| W3 | C3 | Kinematic torsor of a moving solid in a direct coordinate system and particular movements. Composition of movements. Case of the Plane on Plan movement. | AAV2 | |
| W3 | TD3 | Calculation of kinematic torsors for elementary bonds. Minimal kinematic scéma. Composition of movements. Movement shot by shot. | AAV2 | |
| W4 | C4 | Torseur of the forces. Efforst transmitted by elementary connections. Static balance. | AAV3 | |
| W4 | C5 | Modeling of forces in a mechanical system | AAV3 | |
| W5 | TD5 | Modeling of forces in a mechanical system | AAV4 | |
| W6 | C6 | static equilibrium. | AAV4 | |
| W6 | TD6 | static equilibrium. | AAV4 | |
| W7 | C7 | Momentum torsor and dynamic torsor of a solid or a set of solids in a Galilean frame of reference. Fundamental Principle of Dynamics. | AAV5 | |
| W7 | TD7 | Momentum torsor and dynamic torsor of a solid or a set of solids in a Galilean frame of reference. Fundamental Principle of Dynamics. | AAV5 | |
| W8 | C8 | PFD applied to a solid or set of solids. | AAV5 |
- C/TD/TP respectively corresponds to lectures, tutorials and lab sessions.
Sequence of the unit
Alternating courses and tutorial sessions.
Indicative Assessment of Intended Learning Outcomes (1st session)
| Week | Individ./group | In-person/remote | Type of exam | Evaluated outcomes | Scale % |
|---|---|---|---|---|---|
| W9 | Individual | In-person | Written | AAV1, AAV2, AAV3 | 50% |
| W15 | Individual | In-person | Written | AAV4, AAV5 | 50% |
2nde session
| Session | Individ./group | In-person/remote | Type of exam | Evaluated outcomes | Scale % |
|---|---|---|---|---|---|
| 2 | Individual | In-person | Written | All | 100% |
Date of generation of this unit description: 06/10/2026
