Robotics Fundamentals Kinematics, Dynamics and Control

What you'll learn

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Construct forward-kinematics models using coordinate frames, homogeneous transformations, and Denavit-Hartenberg parameters.
Calculate feasible inverse-kinematics and Jacobian-based velocity solutions while identifying joint limits and singularities.
Analyze manipulator dynamics to estimate inertia, gravity, payload, friction, and actuator torque requirements.
Apply trajectory profiles and PID or model-based control concepts to evaluate robot tracking performance.
Requirements

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No prior experience required; the course introduces core robotics notation and modeling conventions.
Comfort with high-school algebra and basic trigonometry is helpful.
Basic familiarity with vectors and introductory physics is beneficial but not essential.
Description

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Robotics fundamentals provide the bridge between a robot's mechanical structure and purposeful, repeatable motion. This course builds a rigorous, practical foundation in kinematics, dynamics, trajectory planning, and feedback control for manipulators and related robotic systems. You will learn how coordinate frames, joints, links, sensors, and actuators fit into a complete motion-generation workflow.
Beginning with rigid-body motion, you will represent position, orientation, and pose using rotation matrices and homogeneous transformations. You will build forward-kinematics models with Denavit-Hartenberg parameters, then address inverse kinematics, Jacobians, velocity relationships, singularities, and force-to-torque mapping. The course next introduces the manipulator equation of motion, including inertia, gravity, friction, payloads, and actuator constraints.
With these models in place, you will design joint-space and task-space trajectories, compare trapezoidal and jerk-limited profiles, and apply PID, feedforward, gravity compensation, and computed-torque control concepts. Practical scenarios such as pick-and-place, tool-frame calibration, reachability checks, and tracking-error diagnosis show how the topics connect in simulation and entry-level robot deployment. The learning path progresses from geometric modeling to physically feasible motion, controlled execution, safety boundaries, and systematic troubleshooting.
- Build and verify pose models for planar and spatial manipulators.
- Assess inverse-kinematics solutions, joint limits, and singular configurations.
- Estimate dynamic loads and actuator torque demands for robot motion.
- Plan smooth trajectories and diagnose feedback-control performance.
By the end, you will be able to interpret a robotics task as a structured engineering problem: define frames and constraints, select feasible motions, account for physical loads, and evaluate whether a controller can track the planned trajectory safely and reliably.
Who this course is for

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Engineering students seeking a structured introduction to robot kinematics, dynamics, and control.
Early-career mechanical, electrical, or mechatronics engineers working with robotic systems.
Developers and technical practitioners who want to understand the models behind robot motion planning and control.
Robotics hobbyists ready to move beyond basic programming into mathematical robot modeling.
Homepage

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