Modern Robotics, Course 2: Robot Kinematics

Are you interested in learning more about robots? Are you interested in robotics? Do you have the time and desire to master fundamental mathematical modeling techniques used in all areas of robotics?

The "Modern Robotics" specialization could be right for you. This six-course specialization is designed to prepare serious students for advanced study or work in robotics. This is not a sampling course.

In Course 2 of the specialization, Robot Kinematics, you will learn to solve the forward kinematics (calculating the configuration of the "hand" of the robot based on the joint values) using the product-of-exponentials formula. With the tools you have learned, forward kinematics will be easy. Next, velocity kinematics is followed by statics that relate joint velocities to forces/torques.

This course is based on the book Modern Robotics: Mechanics, Planning, and Control (Lynch and Park, Cambridge University Press 2017,). The book can be purchased or you can download the preprint pdf. You'll build a library with robotics software in your preferred language (e.g. Python, Mathematica and MATLAB), and then use V-REP to simulate state-of the-art robots from your home. This simulator is free and requires no financial investment.