Introduction to Robotic Kinematics

This course covers the fundamental concepts of robotics that will enable students to perform kinematic and static force analyses of robotic systems. Rigid-body motion in three-dimensional space is analyzed using rotation and transformation matrices. Screw theory approach is used for representing and conducting forward kinematics of manipulators (product of exponentials). Inverse kinematics of open-chain manipulators is examined using analytical and numerical techniques.