This lecture introduces the fundamentals of robotics with a focus on manipulator control. The course covers the following topics:

• Modeling: coordinate systems and transformations, parameterization of rotation matrices, forward and inverse kinematics, Jacobians and singularities
• Trajectory planning: polynomial and trapezoidal trajectories, trajectories with intermediate points, trajectories in task space
• Linear control: actuator dynamics, decentralized motion control, basics of task space and force control

After successful completion of the module, students will be able to

• mathematically describe and analyze the kinematics of robotic manipulators.
• plan trajectories for robot motions.
• design and implement linear methods for robot motion and force control.