Welcome to Kinematics and Dynamics of Robots (25PC1RA204)! The course is a mathematical introduction to robot manipulators, from describing a single rigid body in space to modeling the forces that drive a complete arm. Topics covered include rigid-body transformations with rotation matrices and homogeneous transformations, forward kinematics using the Denavit–Hartenberg convention, inverse kinematics of three- and six-degree-of-freedom arms, differential motion, the Jacobian and singularities, and dynamics and static force analysis with Lagrangian mechanics.

For Course Objectives, Course Outcomes, and Articulation Matrix, you can download the official R&AI syllabus here.