- Introduction to Modern Robotics
- Introduction to the specialization, the Modern Robotics code library, the CoppeliaSim robot simulator, and the lightboard video-generation tool.
- Chapter 2: Configuration Space (Part 1 of 2)
- Configuration space and degrees of freedom of rigid bodies and robots.
- Chapter 2: Configuration Space (Part 2 of 2)
- Configuration space topology and representation; configuration and velocity constraints; task space and workspace.
- Chapter 3: Rigid-Body Motions (Part 1 of 2)
- Rigid-body motions, rotation matrices, angular velocities, and exponential coordinates of rotation.
- Chapter 3: Rigid-Body Motions (Part 2 of 2)
- Homogeneous transformation matrices, twists, screws, exponential coordinates of rigid-body motion, and wrenches.