Robotics Foundations I - Robot Modelling

This course explores the intersection of mechanics, electronics, signal processing, control engineering, computing, and mathematical modeling in robotics, focusing on the intelligent connection between perception and action. It covers the essential roles of modeling and control in both industrial and advanced field/service robots. Key topics include kinematic models of robot manipulators and mobile robots, the use of the Jacobian for differential kinematics, singular configurations, redundancy analysis, statics models, and inverse kinematics algorithms. Students will learn to derive equations of motion for robotic systems and apply model-based control for trajectory tracking in joint or operational spaces. The course also addresses force and visual control techniques for environmental interactions, parameter estimation methods, nonholonomic constraints for mobile robots, and solutions for trajectory tracking and posture regulation.