15 lessons · 8–14 h

Stage 08 · Kinematics & Inverse Kinematics

Go deeper on frames, homogeneous transforms, FK chains, DH, workspace, and IK (analytical vs numerical, multiplicity, singularities) beyond hobby closed-form tricks — robotics-first. Recommended after 6DOF; open now (future access control TBD). Educational planar/2R solvers labeled simplified.

• 1. Why Robots Need Kinematics
• 2. Coordinate Frames & Reference Frames
• 3. Position, Orientation & Pose
• 4. Homogeneous Transformation Matrices
• 5. Rotation & Translation
• 6. Forward Kinematics — Concept
• 7. Forward Kinematics — 6DOF Arm
• 8. Denavit–Hartenberg Parameters
• 9. Building a DH Table
• 10. End-Effector Pose Calculation
• 11. Robot Workspace
• 12. Inverse Kinematics — Concept
• 13. Analytical vs Numerical IK
• 14. Multiple Solutions & Singularities
• 15. Capstone: Design & Solve the Kinematics of Your 6DOF Robot