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IMPORTANT: All the materials including lessons, labs, and projects are proprietary to Dr. Madi Babaiasl and Saint Louis University. You can use them for educational purposes with proper attribution to the main source.

If you implemented any of the projects, send your implementation to [email protected] and we can share it to the Mecharithm's social media with your name.

Welcome to the Modern Robotics course wiki. Click on the lesson from the menu to start learning! The Table of Contents below presents a chronological arrangement of lessons and labs covered throughout this course.

Lesson 1: Introduction

Lab 1: Introducing the PincherX 100 Robot Arm and Vision-Kit

Prerequisite 1: Introduction to Robot Operating System ROS2

Lab 2: ROS2 Humble Interface Installation & Running the Robot in Simulation & Reality

HW 1: Introduction to Robot Operating System ROS2

Prerequisite 2: Introduction to Python Programming with Emphasis on Robotics Applications

Lab 3: Working with Python‐ROS API and a Simple Pick‐and‐Place Task

Lesson 2: Degrees of Freedom DOF in Robotics

Lab 4: Exploring DOFs and Joint Types in the PincherX 100 Robot Arm plus DOFs Practice Questions

HW 2: Degrees of Freedom DOF in Robotics

Lesson 3: Orientation in Robotics - Rotation Matrices

Lab 5: Tool Orientation of PincherX 100 Robot Arm Using Rotation Matrices

HW 3: Orientation in Robotics - Rotation Matrices

Lesson 4: Orientation in Robotics - Exponential Coordinates, and Euler Angles

Lab 6: Tool Orientation of PincherX 100 Robot Arm Using Exponential Coordinates and Euler Angles Exercise Question

HW 4: Orientation in Robotics - Exponential Coordinates, and Euler Angles

Lesson 5: Pose in Robotics - Homogeneous Transformation Matrices

Lab 7: Pincherx 100 Robot Arm's Pose in Its Zero Position and Transformation Matrices for Kinova's Gen3 Robot Arm

Lesson 6: Pose in Robotics - Exponential Coordinates of Robot Motions

Lab 8: Python Code for All the Math from Lesson 3 up to Lesson 6

Lesson 7: Forward Kinematics of Robot Arms Using Screw Theory

Lab 9: PincherX 100 Robot Arm's Forward Kinematics Using Screw Theory

HW 5: Forward Kinematics of Kinova's Gen 3 6DOF Robot Arm Using Screw Theory and Verifying Using RoboDK

Lesson 8: Robot Velocities ‐ Angular Velocities & Twists

Lesson 9: Robot Velocity Kinematics Using Screw Theory ‐ Jacobian Matrix

Project 1: Computation of PincherX 100 End‐effector Twist Using ROS 2 Utilities and The Derived Jacobian ‐ Did someone say a dancing robot arm?

Lesson 10: Robot Inverse Kinematics Using Screw Theory ‐ Analytical and Numerical Approaches

Project 2 ‐ Part 1: Inverse Kinematics of the PX100 robot arm Using both Geometric and Numerical Approaches

Project 2 ‐ Part 2: Vision‐Aided Numerical Inverse Kinematics of the PX100 Robot Arm