This module covers essential concepts in robotics, including various methods for representing orientation such as rotation matrices, minimal representations, and four-parameter representations. Additionally, it explores direct kinematics through topics like homogeneous transformations, the Denavit-Hartenberg convention, and the kinematics of typical manipulator structures.

This module covers essential topics in robotics, including inverse kinematics for solving the motion of robotic arms and manipulators with spherical wrists. It also explores the Jacobian matrix, covering its geometric interpretation, link velocities, and methods for computation, crucial for understanding robot motion and control.

This module delves into advanced topics in robotics kinematics. It covers differential kinematics, including kinematic singularities, inverse differential kinematics, and the analytical Jacobian. Additionally, it explores inverse kinematics algorithms, focusing on closed-loop solutions, orientation error handling, and the application of second-order algorithms with numerical outcomes.

This module explores fundamental concepts in robotics statics and dynamics. Topics include kineto-statics duality and manipulability ellipsoids in statics, and the Lagrange formulation covering kinetic and potential energy, equations of motion, and dynamic model properties.

This module explores advanced concepts in robotics dynamics and formulations. Topics include the dynamic model of a two-link planar arm, operational space dynamic models with dynamic manipulability ellipsoids, and the Newton-Euler formulation covering balance of forces and moments, recursive algorithms, and direct and inverse dynamics calculations.