About: A first course in robotics. The course emphasizes learning through extensive numerical simulations and animations. Mathematical modeling and theory is explained to build the necessary intuition to develop numeric code. MATLAB code provides examples on how to program the physics, develop controllers, and animate the system (see Downloads/Links: MATLAB links for tutorials). The YouTube playlist is here http://tiny.cc/robotics_f20. A free simulator for education, CoppeliaSim, is used for modeling and control code is written in Lua. MATLAB 2021 with symbolic and optimization toolbox and CoppeliaSim v4.1.0 (July 21, 2020) were used.

Lectures	Youtube Videos	Lecture Notes	Source Code
MATLAB Tutorials and Syllabus	MATLAB Basics	Basics PDF	N/A
	MATLAB Scripts	Scripts PDF
	MATLAB Animations	Animations PDF
3. Coordinate Transformation	Coordinate Transformation	Coordinate Transformation PDF	Lec Code 3
4. Forward Kinematics Manipulator	Forward Kinematics Manipulator	Forward Kinematics Manipulator PDF	Lec Code 4
5. Inverse Kinematics Manipulator	Inverse Kinematics Manipulator	Inverse Kinematics Manipulator PDF	Lec Code 5
6. Forward Kinematics Manipulator of Differential Wheel	Forward Kinematics Manipulator Differential Wheel	Differential Wheel PDF	Lec 6 Code
7. Inverse Kinematics of Differential Wheel	Inverse Kinematics Manipulator Differential Wheel	Inverse Kinematics Manipulator Differential Wheel Pdf	Lec 7 Code
8. Euler-Lagrange Projectile	Euler-Lagrange Projectile	Projectile PDF	Lec 8 Code
9. Euler-Lagrange Symbolics	Hybrid Systems Bouncing Ball Example	Hybrid Intro PDF	Lec 9 Code
10. Solving boundary Value Problems	Solving boundary Value Problems	Boundary Value Probelms PDF	Lec 10 Code
11. Euler-Lagrange Double Pendulum.	Euler-Lagrange	Euler-Lagrange PDF	Lec 11 Code
12. Jacobian Applications	Jacobian	Jacobian PDF	Lec 12 Code
13. Hybrid Systems	Hybrid Systems	Hybrid Systems PDF	Lec 13 Code
14. Passive Dynamic Walking (PDW) (part1)	Passive Dynamic Walker 1	PDW 1 PDF	N/A
15. Passive Dynamic Walking (part2)	Passive Dynamic Walker 2	PDW 2 PDF	N/A
16. Passive Dynamic Walking (part3)	Passive Dynamic Walker 3	PDW 3 PDF	Lec 16 Code
17. Constrained and Unconstrained Optimization	Const. and Unconst. Optimization	Const. and Unconst. Optimization PDF	Lec 17 Code
18. Trajectory Optimization (part1)	Trajectory Optimization 1	Trajectory Optimization 1 PDF	N/A
19. Trajectory Optimization (part2)	Trajectory Optimization 2	Trajectory Optimization 2 PDF	Lec 19 Code
20. 3D Rotations	3D Rotations	3D Rotations PDF	Lec 20 Code
21. Euler Angles	Euler-Angles	Euler-Angles PDF	N/A
22. 3D Angular Velocity (part1)	3D Angular Velocity 1	3D Angular Velocity 1 PDF	N/A
23. Angular Velocity (part2)	3d Angular Velocity 2	Angular Velocity 2 PDF	N/A
24. 3D Dynamics	3D Dynamics Video	3D Dynamics PDF	Lec 24 Code
25. and 26 3D Quadcopter	Quadcopter	Quadcopter PDF	Lec 25 Code
27. 3D Homogeneous Transformations	3D Transformations	3D Transformations PDF	N/A
28. Denavit Hartenberg (DH) Transformation	Denavit-Hartenberg	DH transformation PDF	N/A
28.1 Manipulator Kinematics (part1)	Manipulator Kinematics 1	Manipulator Kinematics PDF	N/A
29. Manipulator Kinematics (part2)	Manipulator Kinematics 2	Manipulator Kinematics 2 PDF	N/A
30. Manipulator Kinematics (part3)	Manipulator Kinematics 3	Manipaulator Kinematics 3 PDF	N/A
31. Manipulator Inverse Kinematics	Manipulator Inverse Kinematics	Manipulator Inverse Kinematics PDF	Lec 31 Code
32 and 33. Trajectory Generation	Trajectory Generation	Trajectory Generation PDF	Lec 32/33 Code
34. Manipulator Control (part1)	Manipulator Control 1	Manipulators Control 1 PDF	Lec 34 Code
35. Manipulator Control (part2)	Manipulator Control 2	Manipulator Control 2 PDF	Lec code 35
36. Manipulators Control (part3)	Manipulator Control 3	Manipulator Control 3 PDF	Lec 36.1 code
			Lec 36.2 code
			Lec 36.3 code

Projects	Content (PDF Inside)
Project 1: Pong game	PONG PROJECT DOWNLOAD
Project 2: Pumping a swing	PUMP SWING DOWNLOAD
Project 3: Maze navigation	MAZE DOWNLOAD
Project 4: Pick and place robot	PICK AND PLACE DOWNLOAD