Modern Robotics, Course 2: Robot Kinematics from Coursera

Do you want to know how robots work? Are you interested in robotics as a career? Are you willing to invest the effort to learn fundamental mathematical modeling techniques that are used in all subfields of robotics?

If so, then the "Modern Robotics: Mechanics, Planning, and Control" specialization may be for you. This specialization, consisting of six short courses, is serious preparation for serious students who hope to work in the field of robotics or to undertake advanced study. It is not a sampler.

In Course 2 of the specialization, Robot Kinematics, you will learn to solve the forward kinematics (calculating the configuration of the "hand" of the robot based on the joint values) using the product-of-exponentials formula. Your efforts in Course 1 pay off handsomely, as forward kinematics is a breeze with the tools you've learned. This is followed by velocity kinematics and statics relating joint velocities and forces/torques to end-effector twists and wrenches, inverse kinematics (calculating joint values that achieve a desired "hand" configuration), and kinematics of robots with closed chains.

This course follows the textbook "Modern Robotics: Mechanics, Planning, and Control" (Lynch and Park, Cambridge University Press 2017). You can purchase the book or use the free preprint pdf. You will build on a library of robotics software in the language of your choice (among Python, Mathematica, and MATLAB) and use the free cross-platform robot simulator V-REP, which allows you to work with state-of-the-art robots in the comfort of your own home and with zero financial investment.

What's inside

Syllabus

Chapter 4: Forward Kinematics

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

Chapter 5: Velocity Kinematics and Statics

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what should give you pause

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Taught by recognized experts in the field of robotics, Kevin Lynch and Frank Park

Uses the latest mathematical techniques for modeling robots

Provides a strong foundation for beginners in robotics

Builds on a library of robotics software in the language of your choice

Focuses on solving kinematics problems related to robot manipulators

Reviews summary

Rigorous foundation in robot kinematics

According to learners, this course provides a rigorous foundation in robot kinematics, essential for serious students aiming for careers or advanced study in robotics. Students say the course is highly challenging, particularly in its mathematical demands, and is best suited for those with a solid prerequisite background, ideally from the preceding course. Many find the explanations of complex topics like the product-of-exponentials formula and Jacobians to be clear and insightful. The programming assignments and use of the V-REP simulator are often cited as valuable for applying theoretical concepts. While the pace can be fast, learners who invest the necessary effort find the course highly rewarding.

Coding and simulator exercises are valuable.

"Implementing the concepts in Python really solidified my understanding of the theory."

"The V-REP simulations were crucial for visualizing the kinematics and validating results."

"Assignments are challenging but directly apply what's learned in lectures, which is very helpful."

"The practical exercises make the abstract concepts much more concrete and understandable."

Breaks down complex kinematic ideas well.

"The explanations of the Product of Exponentials formula were crystal clear after re-watching the lectures."

"Helped me finally understand Jacobians and velocity kinematics, which I struggled with before."

"Professor breaks down dense topics into digestible segments, making complex ideas accessible."

"Complex ideas presented logically and sequentially, building understanding step-by-step."

Moves quickly, assumes prerequisites.

"The course covers a lot of ground very quickly; easy to fall behind if you don't keep up daily."

"Really need the foundation from Course 1, it moves fast assuming you have it down pat."

"Felt a bit rushed through some of the harder derivations in later chapters."

"Pace is intense but arguably necessary to cover the breadth of topics in kinematics."

Demanding, requires strong math and effort.

"Be prepared for serious math; this course is rigorous and dives deep into theory."

"Definitely not a walk in the park, requires significant time commitment and prior knowledge."

"Assumes comfort with linear algebra and calculus, strongly recommend having Course 1."

"Found some sections overwhelmingly difficult without extensive prior expertise in the field."

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 Modern Robotics, Course 2: Robot Kinematics with these activities:

Review Lynch and Park's Modern Robotics textbook

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Reading this textbook provides a comprehensive foundation for understanding robotics concepts.

View Modern Robotics on Amazon

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Obtain a copy of the textbook.
Read the relevant chapters and sections.
Summarize the key concepts and equations.

Review the product of exponentials formula

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Reviewing this formula will lay the groundwork for understanding forward kinematics in this course.

Browse courses on Forward Kinematics

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Read the relevant sections of the textbook or online resources.
Solve practice problems involving the formula.
Explain the formula to a friend or family member.

Explore velocity kinematics using tutorials

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Tutorials can provide clear and interactive explanations of velocity kinematics.

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Identify relevant tutorials on velocity kinematics.
Follow the tutorials and complete the exercises.
Apply the concepts to solve practice problems.

Three other activities

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Practice forward kinematics calculations

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Practicing these calculations will enhance your understanding of forward kinematics.

Browse courses on Forward Kinematics

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Obtain a robot model or simulator.
Set up a series of joint configurations.
Calculate the forward kinematics for each configuration.
Compare your results to the expected values.

Discuss inverse kinematics algorithms with peers

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Peer discussions can foster a deeper understanding of inverse kinematics algorithms.

Browse courses on Inverse Kinematics

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Form a study group or join an online forum.
Present and explain different inverse kinematics algorithms.
Critique and provide feedback on each other's understanding.

Develop a simulation to test robot kinematics

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Building a simulation provides hands-on experience in applying kinematics principles.

Browse courses on Motion Planning

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Choose a suitable simulation platform.
Design and implement the simulation environment.
Test and validate the simulation.
Use the simulation to explore and analyze robot kinematics.

Career center

Learners who complete Modern Robotics, Course 2: Robot Kinematics will develop knowledge and skills that may be useful to these careers:

Robotics Engineer

A Robotics Engineer is someone who designs, builds, and tests robots. They use their knowledge of mechanical engineering, electrical engineering, and computer science to create robots that can perform a variety of tasks, from manufacturing and assembly to healthcare and space exploration. The Modern Robotics specialization can help you develop the skills you need to be a successful Robotics Engineer. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. You will also learn how to use software and simulation tools to design and test robots.

See salaries and explore the career path for Robotics Engineer

Mechatronics Engineer

Mechatronics Engineers design, build, and maintain systems that integrate mechanical, electrical, and computer engineering. They work on a variety of projects, from developing new medical devices to designing autonomous vehicles. The Modern Robotics specialization can help you develop the skills you need to be a successful Mechatronics Engineer. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. You will also learn how to use software and simulation tools to design and test mechatronic systems.

See salaries and explore the career path for Mechatronics Engineer

Control Systems Engineer

Control Systems Engineers design and implement systems that control the behavior of machines and processes. They work on a variety of projects, from developing flight control systems for airplanes to designing temperature control systems for buildings. The Modern Robotics specialization can help you develop the skills you need to be a successful Control Systems Engineer. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. You will also learn how to use software and simulation tools to design and test control systems.

See salaries and explore the career path for Control Systems Engineer

Systems Engineer

Systems Engineers design, build, and test complex systems that consist of multiple components. They work on a variety of projects, from developing new medical devices to designing autonomous vehicles. The Modern Robotics specialization can help you develop the skills you need to be a successful Systems Engineer. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. You will also learn how to use software and simulation tools to design and test complex systems.

See salaries and explore the career path for Systems Engineer

Software Engineer

Robotics is a rapidly growing field, and there is a high demand for software engineers who can work on robotics projects. Software Engineers who specialize in robotics develop software for a variety of applications, including robot control, navigation, and computer vision. The Modern Robotics specialization can help you develop the skills you need to be a successful Software Engineer in robotics. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. You will also learn how to use software and simulation tools to design and test robotics software.

See salaries and explore the career path for Software Engineer

Mechanical Engineer

Robotics is a field that requires a variety of engineering skills, including mechanical engineering. Mechanical Engineers design and build the physical components of robots, such as the body, joints, and actuators. The Modern Robotics specialization can help you develop the skills you need to be a successful Mechanical Engineer in robotics. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. You will also learn how to use software and simulation tools to design and test robotic components.

See salaries and explore the career path for Mechanical Engineer

Electrical Engineer

Robotics is a field that requires a variety of engineering skills, including electrical engineering. Electrical Engineers design and build the electrical systems of robots, such as the power supply, sensors, and actuators. The Modern Robotics specialization can help you develop the skills you need to be a successful Electrical Engineer in robotics. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. You will also learn how to use software and simulation tools to design and test robotic electrical systems.

See salaries and explore the career path for Electrical Engineer

Computer Engineer

Robotics is a field that requires a variety of engineering skills, including computer engineering. Computer Engineers design and build the computer systems of robots, such as the control system, navigation system, and computer vision system. The Modern Robotics specialization can help you develop the skills you need to be a successful Computer Engineer in robotics. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. You will also learn how to use software and simulation tools to design and test robotic computer systems.

See salaries and explore the career path for Computer Engineer

Manufacturing Engineer

Robotics is a field that is closely related to manufacturing. Manufacturing Engineers design and build the systems and processes used to manufacture products. The Modern Robotics specialization can help you develop the skills you need to be a successful Manufacturing Engineer in robotics. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. You will also learn how to use software and simulation tools to design and test robotic manufacturing systems.

See salaries and explore the career path for Manufacturing Engineer

Quality Engineer

Robotics is a field that is closely related to quality control. Quality Engineers ensure that products meet the required standards of quality. The Modern Robotics specialization can help you develop the skills you need to be a successful Quality Engineer in robotics. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. You will also learn how to use software and simulation tools to design and test robotic quality control systems.

See salaries and explore the career path for Quality Engineer

Technical Writer

Robotics is a field that requires a variety of skills, including technical writing. Technical Writers create and maintain technical documentation, such as user manuals, technical reports, and white papers. The Modern Robotics specialization may be useful for those who want to become a Technical Writer in robotics. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. This knowledge can help you to write technical documentation that is accurate and easy to understand.

See salaries and explore the career path for Technical Writer

Project Manager

Robotics is a field that requires a variety of management skills. Project Managers lead and manage robotics projects. They work with engineers, designers, and other stakeholders to ensure that projects are completed on time and within budget. The Modern Robotics specialization may be useful for those who want to become a Project Manager in robotics. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. This knowledge can help you to manage robotics projects effectively.

See salaries and explore the career path for Project Manager

Sales Engineer

Robotics is a field that requires a variety of sales skills. Sales Engineers sell robotics products and services to customers. They work with customers to identify their needs and recommend the best robotics solutions. The Modern Robotics specialization may be useful for those who want to become a Sales Engineer in robotics. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. This knowledge can help you to sell robotics products and services effectively.

See salaries and explore the career path for Sales Engineer

Marketing Manager

Robotics is a field that requires a variety of marketing skills. Marketing Managers develop and implement marketing plans for robotics products and services. They work with sales teams to generate leads and close deals. The Modern Robotics specialization may be useful for those who want to become a Marketing Manager in robotics. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. This knowledge can help you to market robotics products and services effectively.

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Business Analyst

Robotics is a field that requires a variety of business skills. Business Analysts identify and analyze business needs and recommend solutions. They work with stakeholders to develop and implement business plans. The Modern Robotics specialization may be useful for those who want to become a Business Analyst in robotics. The specialization will teach you about the fundamentals of robot kinematics, dynamics, and control. This knowledge can help you to analyze business needs and recommend robotics solutions.

See salaries and explore the career path for Business Analyst