M-1-MR1: Mathematics for Robotics-1

Introductory mathematics for robotics modelling General Notes

• Visualizations in MATLAB

Syllabus

Prerequisites

• Math 0
• Math 1

MODULE 1: Introduction

• Fundamental Jargon
  • Parts of a Robot
  • Workspace and Taskspace
  • Configuration Space (non-ModernRobotics)

MODULE 2: Transforms

• Frames
• Rotation Matrices
• Homogeneous Transformation Matrices
• Python Libraries

MODULE 3: Forward Kinematics

• Strict Trigonometry and its Drawbacks
• DH Method
  • Classical
  • Modified
• Python Code

MODULE 4: Inverse Kinematics

• Why Simply Inverting DH Doesn't Work
• Analytical Solutions
• Other Jargon

MODULE 5: A Better System

• Screw Theory vs HTM