Lecture, four hours; discussion, two hours; outside study, six hours. Enforced requisite: course C163A. Dynamics models of serial and parallel robotic manipulators, including review of spatial descriptions and transformations along with direct and inverse kinematics, linear and angular velocities, Jacobian matrix (velocity and force), velocity propagation method, force propagation method, explicit formulation of Jacobian matrix, manipulator dynamics (Newton/Euler formulation, Lagrangian formulation), trajectory generation, introduction to parallel manipulators. Concurrently scheduled with course C263B. Letter grading.