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If so, then the "Modern Robotics: Mechanics, Planning, and Control" specialization may be for you. This specialization, consisting of six short courses, is serious preparation for serious students who hope to work in the field of robotics or to undertake advanced study. It is not a sampler.
Your efforts in Course 1 pay off handsomely, as forward kinematics is a breeze with the tools you've learned. This is followed by velocity kinematics and statics relating joint velocities and forces/torques to end-effector twists and wrenches, inverse kinematics (calculating joint values that achieve a desired "hand" configuration), and kinematics of robots with closed chains.
Course 2 of 6 in the Modern Robotics: Mechanics, Planning, and Control Specialization.
Chapter 4: Forward Kinematics
Product of exponentials formula for forward kinematics in the space frame and the end-effector frame.
Chapter 5: Velocity Kinematics and Statics
Velocity kinematics using the space Jacobian and body Jacobian, statics of open chains, singularities, and manipulability.
Chapter 6: Inverse Kinematics
Analytical and numerical inverse kinematics.
Chapter 7: Kinematics of Closed Chains
Forward kinematics, inverse kinematics, velocity kinematics, and statics of closed chains.