ME 5250: Robot Mechanics and Control is a graduate level course on the kinematics, dynamics, control, and programming of robot manipulators. Early on in the course, I gave a workshop on how to model simple 6-DOF manipulators in Matlab using the Robotics Toolbox. We covered the following topics:
- Transform and Quaternion math
- Forward & inverse kinematics & dynamics
- Jacobians and velocity control
- URDFs and ROS integration
We demonstrated simple FK/IK calculations, moving a robot manipulator in cartesian space and plotting the results in a 3D GUI.