Direct and Inverse Kinematics of an ABB IRB 120 Industrial Robot

Hi Professor Ilian,

I know this is an old post but I hope you're still following it.

The link you provided is broken but I was able to find the new presentations. I do not understand French but they are still very useful since I can follow the mathematics. However the text is very valuable as well and I was just wandering if you happen to have English versions?

Thanks,
Joe.

The main manual is here;
https://cours.etsmtl.ca/gpa546/

But I think he takes the presentations off and reposts them each year as the course progresses.