Modern Robotics: Foundations of Robot Motion
Course provided by Model Institute of Engineering & Technology
4 modules
Master Drone Technology for Environmental Science
5 Level NCrF
National Credit Framework
60 Hours
Flexible Learning
Beginner Level
No prior experience required
Micro Course
02 Credit
Course Overview
This course introduces the mathematical foundations and computational tools used in robotic motion analysis. The course focuses on understanding robot configurations, degrees of freedom, and spatial motion representation through twists and wrenches, essential for anyone pursuing advanced studies or careers in robotics.
Key Learning Highlights
Understand robot mechanisms, configuration spaces, and mobility constraints.
Apply mathematical tools such as transformation matrices and SE(3) group theory to represent motion.
Compute and interpret spatial velocities (twists) and forces (wrenches) in robotic systems.
Analyze serial and closed-chain kinematic structures with practical examples.
Use modeling and simulation tools to visualize robotic motion and mechanisms.
Tools & Platforms Used
Learning Outcome
By the end of this course, students will be able to:
Define and analyze configuration space (C-space) and robot mobility.
Distinguish between holonomic and non-holonomic systems.
Represent motion using transformation matrices and Lie groups.
Model spatial velocities and forces as twists and wrenches.
Simulate robot motion in software tools such as V-REP, MATLAB, or Python.
Develop a foundational understanding of serial-chain and closed-chain robot kinematics.
Master the course with just 4 Modules
This course provides a strong foundation in the mathematical and mechanical principles of robot motion. Learners explore configuration spaces, degrees of freedom, and mobility constraints, while mastering transformation matrices and SE(3) representations for motion analysis. The course further develops skills in computing spatial velocities, forces, and torques, and introduces kinematic chains through real-world robotic systems. Practical modeling and simulation activities help learners visualize and analyze robotic mechanisms, bridging theory with application.
Introduction to Robot Configuration and Mobility
Overview of robot mechanisms
Configuration space (C-space) and degrees of freedom (DOF)
Topology of configuration spaces
Holonomic vs non-holonomic constraints
Mathematical Representation of Motion
Transformation matrices and the SE(3) group
Homogeneous transformations in 3D space
Adjoint transformations and their applications
Spatial Velocities and Forces
Definition and computation of twists and wrenches
Relationship between spatial velocity and robot configuration
Representation of forces and torques in robotic arms
Robotic Systems and Kinematic Chains
Serial and closed-chain mechanisms
Examples from industrial robotics and mobile systems
Modeling and visualization using simulators
