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Free module

Robotics: kinematics and motion

Learn robot arm kinematics hands on: coordinates, forward and inverse kinematics, the Jacobian, paths and a simple controller in Python.

6 lessons370 min lessonSoftware engineering

The lessons

Each lesson is free to read in full. Create a free account to run its commands in a live lab and to sit its quizzes and tasks.

  1. 1 · Container lab

    Coordinates and angles in robotics

    I can describe where something is and which way it points using coordinates and an angle.

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  2. 2 · Container lab

    Forward kinematics of a two-joint arm

    I can compute where the hand of a two-joint arm is from its link lengths and joint angles.

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  3. 3 · Container lab

    Inverse kinematics of a two-joint arm

    I can find the joint angles of a two-joint arm that reach a given target point.

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  4. 4 · Container lab

    Velocity and the Jacobian of a robot arm

    I can say how fast the hand moves when the joints turn, using a Jacobian estimated from a small step.

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  5. 5 · Container lab

    Straight-line paths and trajectories

    I can plan a straight path between two points with a number of steps and a speed limit.

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  6. 6 · Container lab

    A proportional controller and overshoot

    I can simulate a proportional controller that reaches a target and measure its overshoot.

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Worked in a real lab

Every lesson of this module is worked in a lab started for you alone. The labs it uses:

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