Robotics: Fundamentals (edX)

In this course, part of the Robotics MicroMasters program, you will learn how to apply concepts from linear algebra, geometry and group theory and the tools to configure and control the motion of manipulators and mobile robots.

You will also learn how to use MATLAB, the standard robotics programming environment and learn step by step how to use this mathematical tool to write functions, calculate vectors and produce visualizations. You will get hands on experience applying your knowledge to projects using various simulations in MATLAB.

What you'll learn

- How to describe, analyze and think critically about fundamental problems in robotics, such as how to change the position or configuration of a robot

- The role of mathematics in describing robotic arms, mobile robots and other robotic platforms

- How to use the industry standard programming environment, MATLAB

Course Syllabus

Math Fundamentals

Week 1: Vector spaces, inner products, vector norms, orthogonality

Week 2: Linear transformations, matrix multiplication, matrix groups

Week 3: Coordinate transformations, rigid transformations, rotation matrices quaternions, Matrix groups SE(2) and SE(3)

Week 4: Project

Robot Kinematics

Week 5: Kinematic chains, forward kinematics,

Week 6: Inverse kinematics

Week 7: Parallel mechanisms

Week 8: Project

Kinematic Path Planning

Week 9: Graph based methods, Dijkstra’s method, A*Star

Week 10: RRT, configuration space,

Week 11: Artificial potential fields

Week 12: Project