MECH-001MECHANICSIntermediate
Kinematics & Dynamics
Motion analysis for multi-link robot systems
Analyze how robots move. Forward and inverse kinematics, velocity kinematics via Jacobians, and the dynamics equations that govern how forces produce motion. Built around the CatBot quadruped as the reference system.
Modules
2
Lessons
2
Hours
16h
Level
Intermediate
Prerequisites
Course Content
Module 1
Rigid Body Transformations
Rotation matrices, homogeneous transforms, and the Denavit-Hartenberg convention.
Module 2
Forward Kinematics
Given joint angles, find the end-effector position and orientation.
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