Robot Kinematics & Dynamics

The Mathematical Core - Master kinematics, dynamics, and robotic arm simulation with Python
What you'll learn
Understand spatial descriptions including position, orientation, and rotation matrices (SO(3))
Apply forward kinematics using Denavit-Hartenberg (D-H) parameters to determine end-effector position and orientation
Solve inverse kinematics problems using both geometrical and algebraic approaches to find desired joint angles
Master velocity kinematics, Jacobian matrix concepts, singularities, and static force analysis for robotic manipulators
Requirements
Strong foundation in linear algebra, multivariable calculus, and differential equations
Description
This course contains the use of artificial intelligence.Welcome to Robot Kinematics & Dynamics - The Mathematical Core! This comprehensive course is designed for engineers and roboticists who want to master the fundamental mathematics behind robotic manipulation and control.This course provides an in-depth exploration of the mathematical principles that govern how robots move and interact with their environment. Through five carefully structured modules, you'll progress from understanding spatial descriptions to implementing complex simulations of robotic systems.What You'll Learn:• Module 1: Spatial Descriptions - Understand position, orientation, and rotation matrices using SO(3) group theory• Module 2: Forward Kinematics - Apply Denavit-Hartenberg parameters to determine end-effector positions• Module 3: Inverse Kinematics - Solve complex inverse kinematics problems using both geometrical and algebraic approaches• Module 4: Velocity Kinematics - Master the Jacobian matrix, singularities, and static force analysis• Module 5: Dynamics - Learn Euler-Lagrange equations and Newton-Euler formulation for torque calculation• Final Project: Build and simulate a 3-DOF robotic arm in PythonPrerequisites: You should have a strong foundation in linear algebra, multivariable calculus, and differential equations. Some Python programming experience is helpful for the final project.This course combines theoretical knowledge with practical implementation, preparing you for advanced research and industry applications in robotics, control systems, and mechanical engineering.
Who this course is for
Engineers and roboticists seeking to master robotic manipulation and control theory
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