• Do you want to know how robots work? Are you interested in robotics as a career?
• Are you willing to invest the effort to learn fundamental mathematical modeling techniques that are used in all subfields of robotics?

Dynamics of Open Chains Part 1

• Lagrangian formulation of dynamics, centripetal and Coriolis forces.
• Robot mass matrix, dynamics of a rigid body.
• And Newton-Euler inverse dynamics for an open-chain robot.

Dynamics of Open Chains Part 2

• Forward dynamics of an open chain, task-space dynamics, constrained Modern Robotics Course 3, and practical effects due to gearing and friction.

Trajectory Generation Part 1

• Point-to-point “straight-line” trajectories and polynomial trajectories passing through via points.

Trajectory Generation Part 2

• Time-optimal motions along a specified path subject to robot dynamics and actuator limits.
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