Robotics: Kinematics and Mathematical Foundations
Master essential mathematical concepts for robotics, including kinematics, vector spaces, and transformations using MATLAB.
Master essential mathematical concepts for robotics, including kinematics, vector spaces, and transformations using MATLAB.
This advanced course, the first in the Robotics MicroMasters series, establishes the mathematical foundations crucial for robotics engineering. Students learn to analyze and solve fundamental robotics problems, focusing on position control and configuration changes. The curriculum covers vector spaces, linear transformations, coordinate systems, and robot kinematics. Through practical MATLAB projects, participants apply theoretical concepts to real-world robotics challenges. The course emphasizes both mathematical understanding and practical implementation, preparing students for advanced robotics applications.
Instructors:
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What you'll learn
Master fundamental mathematical concepts for robotics
Analyze and solve robot positioning problems
Implement kinematics calculations using MATLAB
Understand coordinate transformations and matrix operations
Develop path planning algorithms for robots
Apply theoretical concepts to practical robotics challenges
Skills you'll gain
This course includes:
PreRecorded video
Graded assignments, exams
Access on Mobile, Tablet, Desktop
Limited Access access
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There are 12 modules in this course
This foundational course covers the mathematical principles essential for robotics engineering. The curriculum is structured in three main sections: mathematical fundamentals, robot kinematics, and kinematic path planning. Students learn vector spaces, matrix operations, coordinate transformations, and various kinematics concepts. The course includes practical projects using MATLAB to implement theoretical concepts, providing hands-on experience with industry-standard tools.
Vector spaces, inner products, vector norms, orthogonality
Module 1
Linear transformations, matrix multiplication, matrix groups
Module 2
Coordinate transformations, rigid transformations, rotation matrices quaternions, Matrix groups SE(2) and SE(3)
Module 3
Math Fundamentals Project
Module 4
Inverse kinematics
Module 6
Parallel mechanisms
Module 7
Robot Kinematics Project
Module 8
Graph based methods, Dijkstra's method, A*Star
Module 9
RRT, configuration space
Module 10
Artificial potential fields
Module 11
Kinematic Path Planning Project
Module 12
Fee Structure
Instructors
Computer Vision Pioneer and Robotics Innovation Leader
Camillo J. Taylor (CJ) serves as the Raymond S. Markowitz President's Distinguished Professor in Computer and Information Science and Associate Dean for Diversity, Equity and Inclusion at the University of Pennsylvania's School of Engineering and Applied Science. After completing his education at Harvard College and Yale University, he has established himself as a leading figure in computer vision and robotics research. His groundbreaking work spans multiple areas, including 3D reconstruction from 2D images, which has led to commercially successful architectural modeling techniques
Pioneering Robotics Innovator and Engineering Scholar
Mark Yim serves as the Asa Whitney Professor of Mechanical Engineering and Applied Mechanics at the University of Pennsylvania, where he also holds positions as Director of the GRASP Laboratory and Faculty Director of the Design Studio at Venture Lab. After earning his BS in Engineering Mechanics from Johns Hopkins University in 1987 and both his MS and PhD in Mechanical Engineering from Stanford University by 1994, he gained valuable industry experience at Virtual Technologies and Xerox PARC before transitioning to academia. His groundbreaking research focuses on modular reconfigurable robots that can transform their shape to suit different tasks, from snake-like configurations to humanoid forms and multi-legged robots. As a recognized innovator, he was named a 2018 National Academy of Inventors Fellow for his contributions to robotics and society. His recent work includes the development of SMORES-EP, an advanced modular robot system, while expanding research into flying robots and task specification optimization. His innovative approach to robotics has earned him recognition as a leading expert in mechanical systems design and robotic locomotion, with projects spanning from self-assembling aquatic bots to humanoid robots for elder care.
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