Course Description:
This course provides an in-depth study of the mathematical modeling and motion planning of robotic manipulators. The focus is on the forward and inverse kinematics, differential kinematics, robot dynamics, and trajectory generation for serial-link manipulators.
Key Topics:
- Forward kinematics (Denavit–Hartenberg parameters, transformation matrices)
- Inverse kinematics (analytical and numerical methods)
- Jacobian matrix and velocity kinematics
- Singularities and manipulability
- Dynamics using Lagrangian and Newton–Euler formulations
- Motion and trajectory planning (joint space and Cartesian space)
- Time-scaling and path optimization
- Introduction to control implications of dynamics
Primary Reference Books:
“Robot Modeling and Control”
By Mark W. Spong, Seth Hutchinson, M. Vidyasagar
- Excellent coverage of both kinematics and dynamics, with clear derivations and exercises.
“Robotics: Modelling, Planning and Control”
By Bruno Siciliano et al.
- A comprehensive and modern reference for kinematics, dynamics, and trajectory planning.
“Introduction to Robotics: Mechanics and Control”
By John J. Craig
A classic introductory text, especially strong on kinematics and intuitive explanations.
Typical Tools Used:
MATLAB/Simulink for modeling and simulation
Python (e.g., SymPy or NumPy for symbolic/numerical kinematics)
ROS (Robot Operating System) for integration in lab-based versions
