Coursera Flash Sale
40% Off Coursera Plus for 3 Months!
Grab it
Learn the mathematical foundations and theoretical principles underlying modern robotics through comprehensive coverage of kinematics, dynamics, and motion planning. Master essential concepts including configuration spaces, degrees of freedom, and holonomic versus nonholonomic constraints that govern robot behavior. Explore various mathematical representations of robot orientations including rotation matrices, Euler angles, roll-pitch-yaw angles, unit quaternions, Cayley-Rodrigues parameters, and exponential coordinates. Delve into homogeneous transformation matrices for describing robot poses and screw theory for analyzing robot motions. Study forward kinematics using screw theory with practical MATLAB implementations and demonstrations. Understand angular velocities, twists, and wrenches as fundamental tools for describing robot motion and forces. Examine screw motion and exponential coordinates for representing complex robot movements. Gain insights into task space versus workspace concepts and their applications in robot design and control. Build a solid mathematical foundation essential for advanced topics in robot control, path planning, and manipulation through systematic progression from basic concepts to sophisticated analytical tools used in professional robotics applications.
