Introduction to Robot Modeling and Manipulator Kinematics

Robotics is transforming industries, but building or programming a robot requires a deep understanding of how it moves and interacts with the physical world. This text-based course guides you through the essential mathematical and physical principles needed to model robot manipulators from scratch. You will transition from seeing robots as complex machines to understanding them as systems of links and joints. By learning how to mathematically describe position, orientation, and motion, you will gain the skills to build accurate mathematical models of robotic arms. What you will learn: • Understand the fundamental terminology of robotics, including degrees of freedom, joints, and links. • Apply coordinate transformations, rotation matrices, and homogeneous transformation matrices to describe spatial relationships. • Master forward kinematics using the Denavit-Hartenberg convention to determine end-effector positions. • Explore inverse kinematics concepts to calculate the joint angles required for specific target coordinates. • Analyze differential kinematics and Jacobian matrices that govern robot velocity. • Introduce modern modeling practices, including URDF representations used in contemporary simulation environments. The course begins with foundational definitions of robotic structures before advancing step-by-step through spatial mathematics, kinematic chains, and velocity analysis. Through clear written explanations, step-by-step derivations, and practical mathematical exercises, you will build a solid theoretical foundation. This course is designed for beginners in robotics, engineering students, and software developers looking to understand the physical mechanics of robot motion. No prior robotics experience is required, though basic algebra and trigonometry are helpful. Start reading today to master the core principles of robotic modeling and kinematics.