Robotics and Autonomous Systems

  1. Robot Kinematics and Dynamics
    1. Spatial Representation
      1. Coordinate Frame Systems
        1. World Coordinate Frame
          1. Robot Base Frame
            1. End-Effector Frame
              1. Sensor Frames
              2. Homogeneous Transformations
                1. Transformation Matrix Structure
                  1. Translation Representation
                    1. Rotation Representation
                      1. Composition Rules
                        1. Inverse Transformations
                        2. Rotation Representations
                          1. Rotation Matrices
                            1. Properties and Constraints
                              1. Composition Rules
                              2. Euler Angles
                                1. Roll-Pitch-Yaw Convention
                                  1. Other Euler Conventions
                                    1. Gimbal Lock Problem
                                    2. Quaternions
                                      1. Quaternion Algebra
                                        1. Unit Quaternions
                                          1. Quaternion Interpolation
                                            1. Advantages over Other Methods
                                        2. Forward Kinematics
                                          1. Manipulator Forward Kinematics
                                            1. Kinematic Chain Concepts
                                              1. Joint Types and Parameters
                                                1. Denavit-Hartenberg Convention
                                                  1. DH Parameter Assignment
                                                    1. Forward Kinematics Computation
                                                    2. Product of Exponentials Method
                                                      1. Screw Theory Basics
                                                        1. Exponential Coordinates
                                                      2. Mobile Robot Kinematics
                                                        1. Kinematic Constraints
                                                          1. Unicycle Model
                                                            1. Differential Drive Model
                                                              1. Ackermann Steering Model
                                                                1. Omnidirectional Models
                                                              2. Inverse Kinematics
                                                                1. Problem Formulation
                                                                  1. Existence of Solutions
                                                                    1. Uniqueness Issues
                                                                      1. Multiple Solutions
                                                                      2. Analytical Methods
                                                                        1. Closed-Form Solutions
                                                                          1. Geometric Approaches
                                                                            1. Algebraic Methods
                                                                            2. Numerical Methods
                                                                              1. Iterative Algorithms
                                                                                1. Newton-Raphson Method
                                                                                  1. Gradient Descent
                                                                                    1. Damped Least Squares
                                                                                  2. Differential Kinematics
                                                                                    1. Jacobian Matrix Derivation
                                                                                      1. Velocity Relationships
                                                                                        1. Manipulability Analysis
                                                                                          1. Manipulability Ellipsoids
                                                                                            1. Dexterity Measures
                                                                                            2. Singularity Analysis
                                                                                              1. Boundary Singularities
                                                                                                1. Interior Singularities
                                                                                                  1. Algorithmic Singularities
                                                                                                    1. Singularity Avoidance
                                                                                                  2. Robot Dynamics
                                                                                                    1. Dynamic Modeling Approaches
                                                                                                      1. Newton-Euler Formulation
                                                                                                        1. Recursive Algorithm
                                                                                                          1. Forward Dynamics
                                                                                                            1. Inverse Dynamics
                                                                                                            2. Lagrangian Formulation
                                                                                                              1. Kinetic Energy Computation
                                                                                                                1. Potential Energy Computation
                                                                                                                  1. Euler-Lagrange Equations
                                                                                                                2. Dynamic Properties
                                                                                                                  1. Inertia Matrix
                                                                                                                    1. Coriolis and Centrifugal Terms
                                                                                                                      1. Gravity Terms
                                                                                                                        1. Friction Models
                                                                                                                        2. Trajectory Generation
                                                                                                                          1. Point-to-Point Trajectories
                                                                                                                            1. Polynomial Trajectories
                                                                                                                              1. Spline Trajectories
                                                                                                                                1. Time-Optimal Trajectories
                                                                                                                                  1. Constraint Satisfaction

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                                                                                                                              1. Introduction to Robotics and Autonomous Systems

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                                                                                                                              3. Sensors and Perception