Foundations of Robot Manipulation and Wheeled Mobile Robots

Robotic systems are transforming industries, but designing and controlling them requires a solid grasp of physical and mathematical principles. This course provides a clear, step-by-step introduction to the mechanics, kinematics, and control of both robotic manipulators and wheeled mobile platforms. By reading through our structured explanations and working through practical written exercises, you will develop the foundational skills needed to model, plan, and control complex robotic systems. You will transition from understanding basic coordinate frames to analyzing mobile manipulators and modern trajectory planning techniques. What you'll learn: - Understand the fundamental kinematics of wheeled mobile robots, including omnidirectional and nonholonomic systems - Analyze robot manipulation by studying joint mechanics, forward kinematics, and inverse kinematics - Formulate motion planning strategies and trajectory generation methods for obstacle avoidance - Apply feedback control principles to ensure precise path tracking and stability - Explore modern robotics paradigms, including ROS 2 navigation concepts and modern trajectory optimization The course begins with core definitions of coordinate transformations and kinematics before moving into the dynamics of wheeled platforms, robotic arm manipulation, and modern motion planning strategies. This course is designed for beginners and aspiring robotics engineers. It requires no advanced prior background, starting from foundational concepts and building up to professional modeling techniques. Start reading today to build your foundational knowledge of modern robot mechanics and control.