Robotics: Fundamentals and Kinematic Modeling (Part 1)

This comprehensive course on Robotics: Fundamentals and Kinematic Modeling (Part 1) is designed to provide students with a thorough understanding of the basic principles and mathematical modeling techniques fundamental to robotic manipulators. The course begins by introducing the core concepts of robotics, distinguishing between robots and manipulators, and exploring various robot configurations to highlight the diversity in robotic system design. It covers the types of joints used in manipulators, differentiating between active and passive joints, and explains key terminologies that define a robot's capabilities, limitations, and task suitability.

Students also learn about essential components such as stepper and servo motors, along with their feedback devices, critical for robot motion control. The curriculum then shifts focus to end effectors, discussing different types of grippers and the basics of robot programming, which lay the groundwork for robot operation and task execution. A significant emphasis is placed on transformation and orientation, where students study the need for matrix transformations in robotic manipulators.

Topics include Euler angles, their role and singularities, and homogeneous transformations vital for describing robot motion and positioning in space. A major highlight is the detailed study of Denavit-Hartenberg (DH) parameters, covering both classical and modified conventions that are primarily used in forward kinematics to represent the geometry of a robot manipulator. Students learn systematic algorithms for assigning coordinate frames and computing DH parameters, with hands-on examples involving SCARA, spherical, articulated, cylindrical, and Cartesian manipulators.

This includes calculating home positions and transformation sequences that enable accurate spatial representation of robotic links and joints. By integrating theory with practical applications, this course equips learners with the essential skills to model robotic manipulators mathematically, understand their kinematic behavior, and prepare for more advanced topics such as robot dynamics, control, and motion planning. It is ideal for engineering students, researchers, and professionals aiming to build a strong foundation in robotics.