Robotics Foundations I - Robot Modeling from edX

Robotics is commonly defined as the study of the intelligent connection between perception and action. As such, the full scope of robotics lies at the intersection of mechanics, electronics, signal processing, control engineering, computing, and mathematical modeling.

Within this very broad framework, modeling and control play a basic role - not only in the traditional context of industrial robotics, but also for the advanced applications of field and service robots, which have attracted increasing interest from the research community in the last twenty years.

Robotics foundations are dealt with in this two-part course. The first part covers robot modelling. Kinematics of robot manipulators is derived using a systematic approach based on the Denavit-Hartenberg convention and the use of homogeneous transformations.

The inverse kinematics problem is analyzed and closed-form solutions are found for typical manipulation structures. The Jacobian is then introduced as the fundamental tool to describe differential kinematics, determine singular configurations, analyze redundancy, derive the statics model and even formulate inverse kinematics algorithms.

The equations of motion of a robotic system are found on the basis of the dynamic model which is useful for motion simulation and control algorithm synthesis. Two approaches respectively based on Lagrange formulation and Newton-Euler formulation are pursued.

What's inside

Learning objectives

The scenarios of industrial robotics and advanced robotics
The fundamentals of kinematics, differential kinematics and statics
The jacobian and its properties

The inverse kinematics algorithms
The equations of motion of robot manipulators

The scenarios of industrial robotics and advanced robotics
The fundamentals of kinematics, differential kinematics and statics
The jacobian and its properties
The inverse kinematics algorithms
The equations of motion of robot manipulators

Good to know

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Assumes background knowledge in mechanics, electronics, signal processing, control engineering, computing, and mathematical modeling

Introduces the Denavit-Hartenberg convention and homogeneous transformations for systematic kinematics derivation

Covers differential kinematics, including the Jacobian and its applications in singularity analysis, redundancy, and inverse kinematics

Presents both Lagrange and Newton-Euler formulations for motion equations, enabling simulation and control algorithm development

Provides a solid foundation for industrial robotics and advanced robotics applications

Reviews summary

Well-received intro to robot modeling

Learners say this well-received intro to robot modeling has a great content and is well presented. Students note that the kinematics portion is well explained. However, some learners state that there could be more visual aids and practical exercises included.

Great course content

"This course has a great content"

"Great oportunity to learn about high technology and improve my skills as mechanichal engineer, providing me high knowledge to grow up professionally."

Kinematics well explained

"The kinematics part is well explained and I have learned a lot from this course."

Assessments could improve

"Second, there were a number of issues with the assessments: sometimes images didn't appear, sometimes there were no right answers at all."

Delivery and support could improve

"This course has a great content but the delivery and the support were terrible."

"First, the instructor did not use any other tools, such as presentation slides, whiteboard, etc. when explaining mathematical equations."

Include more practical exercises

"it is a well presented class and needs more practical course as well."

Consider adding more visuals

"it is a well presented class and needs more practical course as well."

Activities

Be better prepared before your course. Deepen your understanding during and after it. Supplement your coursework and achieve mastery of the topics covered in Robotics Foundations I - Robot Modeling with these activities:

Robotics Glossary and Resource Collection

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Create a comprehensive robotics glossary and resource collection to support your learning throughout the course.

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Compile a list of key robotics terms and definitions.
Gather resources such as websites, articles, videos, and software tools related to robotics.
Organize the glossary and resource collection for easy reference.

Robot Modeling Fundamentals

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Review the fundamental concepts of robot modeling, including kinematics, homogeneous transformations, and the Denavit-Hartenberg convention, to prepare for the course.

Browse courses on Robot Modeling

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Review the definitions and concepts of robot kinematics.
Practice applying the Denavit-Hartenberg convention to describe robot manipulator structures.
Use homogeneous transformations to represent and manipulate robot configurations.

Modern Robotics: Mechanics, Planning, and Control

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Review the textbook "Modern Robotics: Mechanics, Planning, and Control" to enhance your understanding of robot kinematics, dynamics, and control.

View Modern Robotics on Amazon

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Read and study the textbook chapters relevant to the course content.
Solve practice problems and exercises to test your understanding.
Refer to the textbook for additional insights and explanations during your studies.

Five other activities

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Kinematic Equation Practice

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Engage in practice drills to reinforce your understanding of robot kinematics, including inverse kinematics, differential kinematics, and the equations of motion.

Browse courses on Robot Kinematics

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Solve for the inverse kinematics of simple robot manipulators.
Calculate the Jacobian matrix for various robot configurations.
Derive the equations of motion for robot manipulators.

Robotics Simulation Software Tutorials

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Explore tutorials on robotics simulation software, such as MATLAB or Python, to enhance your understanding of robot kinematics and dynamics.

Browse courses on Robot Simulation

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Find tutorials on robot simulation software that align with the course content.
Follow the tutorials to build and simulate robot models.
Experiment with different robot parameters and control algorithms.

Robotics Project Proposal

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Develop a project proposal for a robotics project that demonstrates your understanding of the course concepts and your ability to apply them to a real-world scenario.

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Identify a specific robotics problem or application that you want to address.
Research existing solutions and technologies related to the problem.
Design a robotic system that meets the requirements of the problem.
Write a detailed project proposal outlining your design, implementation plan, and expected outcomes.

Robotics Club or Research Lab

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Join a robotics club or volunteer in a research lab to gain hands-on experience, learn from others, and expand your network in the field of robotics.

Browse courses on Networking

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Research and identify robotics clubs or research labs in your area.
Contact the club or lab and inquire about volunteer opportunities.
Attend club meetings or lab sessions regularly.
Participate actively in projects and discussions.

Robotics Blog or YouTube Channel

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Create a robotics blog or YouTube channel to share your knowledge and insights on robotics topics, fostering a deeper understanding of the subject matter.

Browse courses on Content Creation

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Choose a specific robotics topic or niche for your content.
Research and gather information from credible sources.
Create engaging and informative content in the form of blog posts, videos, or other multimedia.
Promote your content through social media and other channels.

Career center

Learners who complete Robotics Foundations I - Robot Modeling will develop knowledge and skills that may be useful to these careers:

Robotics Technician

Robotics Technicians help to design, build, test, and maintain robots. They may also work with customers to troubleshoot problems and provide technical support. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Robotics Technician uses on a daily basis.

See salaries and explore the career path for Robotics Technician

Electrical Engineer

Electrical Engineers design, develop, and maintain electrical systems, including robots. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that an Electrical Engineer uses on a daily basis.

See salaries and explore the career path for Electrical Engineer

Robotics Engineer

Robotics Engineers research, design, develop, test, and maintain robots and their components. These robots are used to perform tasks ranging from manufacturing and assembly to exploration and surgery. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Robotics Engineer uses on a daily basis.

See salaries and explore the career path for Robotics Engineer

Mechatronics Engineer

Mechatronics Engineers combine mechanical, electrical, and computer engineering to design, develop, and maintain systems that involve motion control. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Mechatronics Engineer uses on a daily basis.

See salaries and explore the career path for Mechatronics Engineer

Systems Engineer

Systems Engineers design, develop, and maintain complex systems, including robots. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Systems Engineer uses on a daily basis.

See salaries and explore the career path for Systems Engineer

Computer Engineer

Computer Engineers design, develop, and maintain computer systems, including robots. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Computer Engineer uses on a daily basis.

See salaries and explore the career path for Computer Engineer

Software Engineer

Software Engineers design, develop, and maintain software, including robotics software. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Software Engineer uses on a daily basis.

See salaries and explore the career path for Software Engineer

Computer Scientist

Computer Scientists research, design, and develop computer systems, including robots. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Computer Scientist uses on a daily basis.

See salaries and explore the career path for Computer Scientist

Mechanical Engineer

Mechanical Engineers design, develop, and maintain mechanical systems, including robots. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Mechanical Engineer uses on a daily basis.

See salaries and explore the career path for Mechanical Engineer

Control Systems Engineer

Control Systems Engineers design, develop, and maintain control systems for a variety of applications, including robotics, manufacturing, and aerospace. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Control Systems Engineer uses on a daily basis.

See salaries and explore the career path for Control Systems Engineer

Operations Research Analyst

Operations Research Analysts use mathematical and analytical methods to solve problems in a variety of industries, including robotics. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that an Operations Research Analyst uses on a daily basis.

See salaries and explore the career path for Operations Research Analyst

Manufacturing Engineer

Manufacturing Engineers design, develop, and implement manufacturing processes, including robotics. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Manufacturing Engineer uses on a daily basis.

See salaries and explore the career path for Manufacturing Engineer

Quality Engineer

Quality Engineers ensure that products and services meet quality standards, including robots. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Quality Engineer uses on a daily basis.

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Data Scientist

Data Scientists use data to solve problems and make decisions. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that a Data Scientist uses on a daily basis.

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Industrial Engineer

Industrial Engineers design, improve, and install integrated systems for managing industrial production and operations, including robotics. This course covers foundational principles of robotics including modeling, kinematics, differential kinematics, statics, inverse kinematics algorithms, and the equations of motion for robot manipulators. This course may be helpful in gaining skills relevant to those that an Industrial Engineer uses on a daily basis.

See salaries and explore the career path for Industrial Engineer