Robotics in 2D with Python

About: A first course in 2D robotics. The material includes systems such as: manipulators, differential drive car, hopper, and bicopter and techniques such as: forward/inverse kinematics, euler-lagrange dynamics, linear and nonlinear control, trajectory generation, trajectory optimization, and motion planning. 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. I recommend installing Visual Studio Code IDE for python (see top of the table 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
Lec0	Syllabus	Video	None	None
Lec00	Installing a package in Microsoft Visual Studio Code	Video	None	None
Lec01	Python Basics	Video	None	Code
Lec02	Python Plots and Animations	Video	None	Code
Lec03	Coordinate frames, rotation, translation and homogenous transformations	Video	PDF	None
Lec04	Forward kinematics of a 2-link manipulator	Video	PDF	Code
Lec05	Inverse kinematics of a 2D Manipulator	Video	PDF	Code
Lec06	Differential Drive Forward Kinematics	Video	PDF	Code
Lec07	Inverse kinematics of a differential drive car	Video	PDF	Code
Lec08a	Introduction to the Jacobian	Video	PDF	Code
Lec08b	Application of Jacobian, Cartesian Velocity	Video	PDF	see above
Lec08c	Application of Jacobian, Joint Torques	Video	PDF	see above
Lec08d	Application of Jacobian, Inverse Kinematics	Video	PDF	see above
Lec09	Euler-Lagrange / Dynamics of a projectile	Video	PDF	Code
Lec10	Symbolic computations needed for Euler-Lagrange Method	Video	PDF	Code
Lec11	Double pendulum using Euler-Lagrange Method	Video	PDF	Code
Lec12a	Hybrid systems: Bouncing Ball	Video	PDF	Code
Lec12b	Hybrid systems: Pogo Stick Hopper	Video	PDF	see above
Lec13	Numerical Optimization	Video	PDF	Code
Lec14a	Introduction to Trajectory Optimization	Video	PDF	Code
Lec14b	Trajectory optimization using collocation	Video	PDF	see above
Lec14c	Trajectory optimization using shooting method	Video	PDF	see above
Lec15a	Motion planning: Go-to-goal and Obstacle Avoidance	Video	PDF	Code
Lec15b1	Potential Fields, Attractive Potential	Video	PDF	see above
Lec15b2	Potential Fields, Repulsive Potential	Video	see above	see above
Lec15b3	Using Potential Fields for motion planning of a car	Video	see above	see above
Lec15c	Dynamic Window Approach	Video	PDF	see above
Lec15d	Model Predictive Control for motion planning	Video	PDF	see above
Lec16a	Trajectory Generation using polynomials	Video	PDF	Code
Lec16b	Trajectory Generation Examples	Video	PDF	see above
Lec16c	Trajectory Generation using Piecewise Splines	Video	PDF	see above
Lec17a	Introduction to nonlinear control of manipulators	Video	PDF	Code
Lec17b	Critical damping-based feedback control	Video	PDF	see above
Lec17c	Feedback Linearization Set-Point Control	Video	PDF	see above
Lec17d	Feedback Linearization Trajectory Tracking Control	Video	PDF	see above
Lec18a	State space, stability, controllability, pole placement and LQR	Video	PDF	Code
Lec18b	Linearization	Video	PDF	see above
Lec18c	Linearization, Application on Pendubot and Acrobot	Video	PDF	see above
Lec19	Bicopter	Video	PDF	Code