Robotics with Coppelia+Py

About: A first course in robotics. The course emphasizes learning through extensive numerical simulations and animations. Mathematical modeling and theory is explained to build the necessary intuition to develop numeric code. Python code provides examples on how to program the physics, develop controllers, and animate the system. This material is supplemented with CoppeliaSim (version 4.5.1) in python (a free physics simulator). The CoppeliaSim videos are at the bottom of this page. In each video, see YouTube description for the scene files. I recommend installing Spyder IDE for python (see top of the tables for instructions on how to install). If you are looking for Robotics with MATLAB see this link: tiny.cc/robotics. If you are looking for Robotics with Python and MuJoCo see this link: tiny.cc/roboticspy.

#	Topic	Youtube	Notes	Code
Lec00	Use custom python interpreter for Spyder on Windows	Video	None	None
Lec01a	Syllabus	Video	None	None
Lec01b	Python Basics	Video	None	Code
Lec02	Python Plots and Animation	Video	None	Code
Lec03	Coordinate Frames and Homogenous Transformations	Video	PDF	None
Lec04	2D Manipulator, Forward and Inverse Kinematics	Video	PDF	Code
Lec05a	Differential Drive, Forward Kinematics	Video	PDF	Code
Lec05b	Differential Drive, Inverse Kinematics	Video	see above	see above
Lec06a	Introduction to Jacobian	Video	PDF	Code
Lec06b	Application of Jacobian, computing Linear Velocity	Video	see above	see above
Lec06c	Application of Jacobian, computing Static Forces	Video	see above	see above
Lec06d	Application of Jacobian, inverse kinematics	Video	see above	see above
Lec07	2D Dynamics, Euler-Lagrange, Projectile motion	Video	PDF	Code
Lec08	Symbolic computation of Euler-Lagrange Equations	Video	PDF	Code
Lec09	Euler-Lagrange Double Pendulum	Video	PDF	Code
Lec10	Introduction to Optimization	Video	PDF	Code
Lec11	Trajectory Optimization	Video	PDF	Code
Lec12a	Introduction to Trajectory Generation	Video	PDF	Code
Lec12b	Trajectory Generation, Solved Examples	Video	see above	see above
Lec13a	Feedback Linearization, Motivation	Video	PDF	Code
Lec13b	Feedback Linearization, N-dimensional system	Video	see above	see above
Lec13c	Feedback Linearization, Joint and Task Space	Video	see above	see above
Lec14a	Linear Control, Controllability, Pole Placement, LQR	Video	PDF	Code
Lec14b	Linearization of differential drive car and pendubot	Video	see above	see above
Lec15	Bicopter, a 2D quadcopter	Video	PDF	Code
Lec16	3D Rotations	Video	PDF	Code
Lec17	3D Angular Velocity	Video	PDF	Code
Lec18a	Forward Kinematics of Manipulators, Denavit Hartenberg	Video	PDF	Code
Lec18b	Example 1, Denavit Hartenberg, 2R planar manipulator	Video	see above	see above
Lec18c	Example 2, Denavit Hartenberg, 1R 2P 3D manipulator	Video	see above	see above
Lec18d	Example 3, Denavit Hartenberg, 3R 3D manipulator/animations	Video	see above	see above
Lec19	Inverse Kinematics of 3D Manipulators, Stanford Manipulator	Video	PDF	Code
Lec20	3D Dynamics	Video	PDF	Code

No.	CoppeliaSim Video	Youtube
1	Set python path in CoppeliaSim (using python from python.org)	Video
2	Set python path in CoppeliaSim (using default python on Win)	Video
3	(Basics) Creating the first simulation, running, saving, and recording it	Video
4	(Basics) Create/Modify/Move Shapes	Video
5	(Basics) Create composite shapes using Group and Merge	Video
6	(Basics) How to change viewpoint (pan/rotate/zoom/fit-to-view)	Video
7	Projectile with Drag	Video
8	Differential Drive Car: Modelling (1 of 2)	Video
9	Differential Drive Car: Control (2 of 2)	Video
10	Two-link planar manipulator, Modelling (part 1 of 2)	Video
11	Two-link planar manipulator, Inverse Kinematics (part 2 of 2)	Video
12	Pendulum, Modeling (part 1 of 2)	Video
13	Pendulum, Position/Velocity/Force Control and Transitions (part 2 of 2)	Video
14	Proximity sensor	Video
15	Vision sensor (used as a color sensor)	Video
16	Importing CAD file and writing code	Video
17	Creating and programming a slider to control animation	Video