Robot Kinematics and Dynamics

Delve into the core principles that govern robotic motion in this comprehensive module. You'll explore the mathematical models and physical laws that define how robots move and interact with their environment. Through a blend of theoretical concepts and practical applications, this course provides the essential knowledge required to design, analyze, and control robotic systems effectively.

Understand the geometric relationships that dictate robot motion, including position, velocity, and acceleration analyses.

Learn to compute the position of a robot's end-effector given joint parameters (forward kinematics) and determine joint parameters required to achieve a desired end-effector position (inverse kinematics).

Master the DH convention for systematically representing the kinematic chains of robotic manipulators. 

Analyze the relationship between joint velocities and end-effector velocities using Jacobian matrices, crucial for motion control and singularity analysis.