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Bruno Siciliano

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.

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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

Good to know

Know what's good
, what to watch for
, and possible dealbreakers
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

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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
Create a comprehensive robotics glossary and resource collection to support your learning throughout the course.
Show steps
  • 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
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
Show steps
  • 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
Review the textbook "Modern Robotics: Mechanics, Planning, and Control" to enhance your understanding of robot kinematics, dynamics, and control.
View Modern Robotics on Amazon
Show steps
  • 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
Expand to see all activities and additional details
Show all eight activities
Kinematic Equation Practice
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
Show steps
  • 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
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
Show steps
  • 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
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.
Show steps
  • 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
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
Show steps
  • 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
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
Show steps
  • 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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.

Reading list

We've selected 14 books that we think will supplement your learning. Use these to develop background knowledge, enrich your coursework, and gain a deeper understanding of the topics covered in Robotics Foundations I - Robot Modeling.
Provides a more advanced treatment of robot dynamics and control, with a focus on the use of nonlinear control techniques.
Provides a detailed treatment of the modeling and control of robot manipulators. Its in-depth coverage complements the course well.
Provides a comprehensive treatment of robot modeling and control, with a focus on the mathematical foundations of the subject.
This is another standard reference in the field that provides a more succinct overview of the topics covered in the course.
Provides advanced topics in robotics. By focusing on the advanced techniques, this book complements well with the introductory topics of the course.
Provides a comprehensive treatment of the mechanics and control of robot manipulators. The focus on mechanics complements the course well.
Introduces the science and systems of robotics, complementing the course by providing real-world case studies and applications.
Provides algorithms for planning robot motion. The concepts of planning would complement well with the kinematics taught in the course.
Provides a concise introduction to robotics and control, making it a good companion to the course for additional practice and examples.
Focuses on the probabilistic aspects of robotics. While it does not directly relate to the topics of the course, probabilistic information is often a highly desirable element in robotics applications.
Provides an overview of autonomous mobile robots, providing a broader context for the topics covered in the course.

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