Rachid Manseur


Associate Professor

Director of Engineering Development

Interim Chair


Office::           298 Shineman, SUNY Oswego, Oswego, NY 13126

Tel:                  315-312-2693

E-mail:            rachid.manseur@oswego.edu





Office hours:  Monday & Thursday 9:30 – 11:00 am by appointment at other times

ECE375– Microprocessor Applications

Tuesday/Thursday, 2:20-5:00 pm in Shineman 404.



            Engineering Program Development at SUNY Oswego –

Educational visualization and computational software development and improvement.

            Working on a couple of books as time permits



Robotics - Digital Design - Embedded Systems - Modeling and Visualization Software Development,             Engineering Education - Program, Curriculum, Course and Laboratory Development




Robot Modeling and Kinematics, Thomson-Delmar Learning, April 2006, ISBN: 1-58450-851-5.

This textbook includes software for numeric and symbolic computation in robotics as well as modeling and visualization software for interactive simulation of robotic arms.


A second edition is in progress.



RModelo – A Robot modeling and visualization program that generates an animated 3D computer graphics model of any robot manipulator from its user-provided Denavit-Hartenberg parameters.

SKEG – Symbolic Kinematics Equations Generator.  A program that generates the kinematic equations of robotic arms in symbolic form and in standard robotics notation.

DHSim - DHsim.exe is a program that generates a VRML scene that takes a reference frame in sequence through each of the four geometric transformations described by the Denavit-Hartenberg parameters.

KAP5 - KAP5.exe solves the inverse kinematics of the general five-revolute-joint robot manipulator.  The user describes a 5R robot arm.  KAP5 can generate a pose matrix and compute joint angles for the robot to reach that pose matrix.

KAP6R - KAP6R.exe computes the forward and inverse kinematics of the general 6R robot arm.  This program is based on a numerical iterative method to search for several inverse kinematics solutions. 

POSRPY - The Program POSRPY.exe creates a VRML file that allows direct visualization of the translation and rotation of an object from a fixed reference frame to a pose described by user-supplied position coordinates and RPY angles.

PUMAsim - The PUMA 560 is a very popular industrial robot arm often used to illustrate robotics computations and control techniques.  The program PUMAsim.exe supplied in this folder generates a virtual model of PUMA robot with moving joints.  The user supplies an initial and a final configuration.

RPYsim - This program computes the rotation matrix that corresponds to a user-supplied set of RPY angles and provides a VRML model showing a reference frame undergo the three canonical rotations described by the RPY angles.

ZYZSim - ZYZ angles provide a way to describe the orientation of an object with three angles.  This program ZYZSim.exe generates a virtual reference frame that rotates into an orientation described by user-supplied ZYZ angles.




R. Manseur, “Software-Aided Design of Robot Mechanisms,”  Proceedings of the International Conference on Advance Robotics, ICAR 2013, Montevideo, Uruguay, Nov, 25-29, 2013.

Z. Manseur, E. Schwartz, R. Manseur, K. Doty, “A Computational Algebra for Numbers with Physical Units.” International Journal of Computing and Mathematical Applications.  Vol. 5, No. 1, January-June 2011, pp. 21-34.


K. C, Eichhorn, C. B. Thompson, D. Vampola, F. Messere, R.Manseur, “Infusing Communication Skills in an Engineering Curriculum.”  Proceedings of the American Society for Engineering Education ASEE-Annual meeting, Louisville, KY, June 20-23, 2010.


R. Manseur, A. Ieta, Z. Manseur, Reforming Mathematics Requirements for a Modern Engineering Education.” Panel Discussion - Proceedings of the IEEE Frontiers in Education Conference, San Antonio, Tx, October 15-18, 2009.


R. Manseur, Z. Manseur, “A Synchronous Distance Learning Program Implementation in Engineering and Mathematic.”  Proceedings of the IEEE Frontiers in Education Conference, San Antonio, Tx, October 15-18, 2009.


R. Manseur, A. Ieta, “Integration of an Innovative Engineering Program in a SUNY College.”  Proceedings of the ASEE Annual Conference & Exposition.  Austin , Tx, June 14-17 2009. 


A. Ieta, R. Manseur, T.E. Doyle, “Effective Criteria for Teaching and Learning.” Proceedings of the ASEE Annual Conference & Exposition.  Austin , Tx, June 14-17 2009. 


R. Manseur, “Modeling and Visualization of Robotic Arms”, GVE 2007, IASTED International Conference on Graphics and Visualization in Engineering. Clearwater, Florida, Jan 3-5, 2007.


R. Manseur, “Virtual Reality in Science and Engineering Education,” IEEE/ASEE Frontiers in Education Conference FIE 2005, Indianapolis, Indiana, October 19-22, 2005.


R. Manseur, “Interactive Visualization Tools for Robotics Education.” Proceedings of the International Conference in Engineering Education, ICEE 2004, Gainesville, Florida, October 2004.


E. Schwartz, R. Manseur, K. Doty, "Non-Commensurate Manipulator Jacobian  Proceedings of the IASTED International Conference on Robotics and Applications. Salzburg, Austria. June 25-27, 2003.


E. Schwartz, R. Manseur, K. Doty, "Non-Commensurate Systems in Robotics" International Journal of Robotics and Automation, Volume 17, No. 2, pp 86-92. 2002.


Undergraduate Students Publications:


L. Solari, R. Manseur, “A Software Package for Kinematic Analysis of General Robot Manipulators,” Proceedings of the Florida Conference on Recent Advances in Robotics, FCRAR 2005, Gainesville, Florida, May 7-8, 2005.


R. Minnett, R. Manseur, “Robot-Draw 2.0: An Interactive Visualization Tool for Modeling Robots,” Proceedings of the Florida Conference on Recent Advances in Robotics, FCRAR 2005, Gainesville, Florida, May 7-8, 2005.


D. Eaton, M. Bobbitt, G. Jarvis, N. Matzer, M. Bloechl, A. Loggins, C. Hunt, J. Showalter, R. Manseur, “The Nautilus: Evolution of an Autonomous Underwater Vehicle,” 6th Annual Association of Unmanned Vehicle Systems International-Unmanned Underwater Vehicle Competition Journal Paper. San Diego, CA, July 2003. 9 pages.


D. Eaton, M. Bobbitt, M. Reid, G. Jarvis, S. Frame, J. Dowling, , M. Bloechl, M. Mentzer, R. Manseur, “The Nautilus-Sub Autonomous Underwater Vehicle” Journal paper for the Association of Unmanned Vehicle Systems-Unmanned Underwater Vehicle Competition. July 2002.


M. Robinette, R. Manseur, "Robot-Draw, a visualization tool for robotics education." IEEE Transactions on Education, Vol. 44 No. 1, pp 29-34. February 2001


This page is maintained by Rachid Manseur.