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Basics of Mechanics for Robotics

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  • Lecturer: Viviane PASQUI and Fabien VERITE (pasqui@isir.upmc.fr fabien.verite@sorbonne-universite.fr)
  • Course code: UM4RBT15
  • Student workload: 16h of lectures, 14h of tutorials, 0h of labs
  • Credits: 3 ECTS
  • Specialization tracks:
  • 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:

  1. Know and know how to apply the following mathematical tools to a mechanical problem: trigonometric functions, vector calculus, differential calculus
  2. Identify and characterize the elementary bonds between solids (embedded, pivot, slide, ball joint, etc.) and their effects on possible movements/transmissible forces between components.
  3. Position a solid in space and determine its kinematic torsor to accurately describe its speed of translation and rotation.
  4. Model a mechanical action and apply the Fundamental Principle of Statics to determine the equilibrium conditions of a system.
  5. 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.
S1 C1 Trigonometric functions, vector calculus, linear applications, matrix calculus, differential calculus AAV1
S1 TD1 Training on the mathematical tools seen in class AAV1
S2 C2 Locating a solid in space and elementary connections. AAV2
S2 TD2 Calculate the position and orientation of a solid in space in an orthonormal coordinate system. AAV2
S3 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
S3 TD3 Calculation of kinematic torsors for elementary bonds. Minimal kinematic scéma. Composition of movements. Movement shot by shot. AAV2
S4 C4 Torseur of the forces. Efforst transmitted by elementary connections. Static balance. AAV3
S4 C5 Modeling of forces in a mechanical system AAV3
S5 TD5 Modeling of forces in a mechanical system AAV4
S6 C6 static equilibrium. AAV4
S6 TD6 static equilibrium. AAV4
S7 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
S7 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
S8 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 tutorials

Indicative Assessment of Intended Learning Outcomes (1st session)

Week Individ./group In-person/remote Type of exam Evaluated outcomes Scale %
S5 Individual In-person Written AAV1, AAV2, AAV3 50%
S8 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%

Logo SDI Date of generation of this unit description: 14/01/2026 Logo SDI