Modern Robotics, Course 2: Robot Kinematics

Go to Course: https://www.coursera.org/learn/modernrobotics-course2

Introduction

### Course Review: Modern Robotics, Course 2 - Robot Kinematics on Coursera **Course Overview** In the rapidly advancing field of robotics, a profound understanding of the underlying principles is essential for anyone wishing to build a career in this exciting domain. The "Modern Robotics: Mechanics, Planning, and Control" specialization on Coursera provides a comprehensive foundation in robotics, and its second course, *Robot Kinematics*, dives deep into one of the most critical aspects of robotic motion and operation. This course, targeted at serious students, focuses on the fundamental mathematical and modeling techniques necessary for a robust understanding of how robots work. If you’re someone who is eager to invest time and effort into mastering robotics, this course will arm you with essential skills that are applicable across all subfields of this dynamic field. **Syllabus Breakdown** The syllabus is structured to build knowledge progressively, encompassing critical topics such as: 1. **Forward Kinematics (Chapter 4)** - The course begins with an exploration of the forward kinematics, utilizing the product of exponentials formula for both the space frame and the end-effector frame. This foundational chapter lays the groundwork for understanding how a robot's configuration relates to its end-effector position and orientation, which is indispensable for robotics applications. 2. **Velocity Kinematics and Statics (Chapter 5)** - Following that, students learn about velocity kinematics using both the space Jacobian and the body Jacobian, which are essential for understanding the motion capabilities of robots. The chapter also addresses statics in open chains, singularities, and manipulability. By mastering velocity kinematics, students can analyze how quickly a robot can move to a desired location while maintaining its functionality. 3. **Inverse Kinematics (Chapter 6)** - A focal point of robot motion planning, inverse kinematics, is covered next, detailing both analytical and numerical methods. This chapter is pivotal for those looking to control a robot's end-effector to reach a specific target; thus, understanding this concept is crucial for practical applications in robotics. 4. **Kinematics of Closed Chains (Chapter 7)** - Finally, the course concludes with an exploration of the kinematics of closed chains. This chapter revisits concepts of forward and inverse kinematics, as well as velocity kinematics and statics for closed chain mechanisms, offering a well-rounded comprehension of robotic arm systems and their applications in real-world scenarios. **Recommendation** Having reviewed the content and structure of the *Robot Kinematics* course, I can confidently recommend it to anyone considering a career in robotics or related fields. The instructors present complex theoretical concepts in a clear and approachable manner, enriched with practical examples and exercises that reinforce learning. The course requires a solid mathematical foundation, so be prepared to engage with the material actively. It’s also beneficial for those interested in fields such as mechatronics, automation, and artificial intelligence. With the increasing demand for skilled professionals in robotics, completing this course will undoubtedly empower you with the knowledge and skills necessary to excel in this exciting and innovative field. If you have a passion for robotics and are willing to invest your time and effort, enroll in *Robot Kinematics* to take your first significant step toward becoming a proficient robotics engineer.

Syllabus

Chapter 4: Forward Kinematics

Product of exponentials formula for forward kinematics in the space frame and the end-effector frame.

Velocity kinematics using the space Jacobian and body Jacobian, statics of open chains, singularities, and manipulability.

Analytical and numerical inverse kinematics.

Forward kinematics, inverse kinematics, velocity kinematics, and statics of closed chains.