Class Central is learner-supported. When you buy through links on our site, we may earn an affiliate commission.

University of Naples Federico II

Robotics Foundations I - Robot Modeling

University of Naples Federico II via edX


Robotics is commonly defined as the study of the intelligent connection between perception and action. As such, the full scope of robotics lies at the intersection of mechanics, electronics, signal processing, control engineering, computing, and mathematical modeling.

Within this very broad framework, modeling and control play a basic role - not only in the traditional context of industrial robotics, but also for the advanced applications of field and service robots, which have attracted increasing interest from the research community in the last twenty years.

Robotics foundations are dealt with in this two-part course. The first part covers robot modelling. Kinematics of robot manipulators is derived using a systematic approach based on the Denavit-Hartenberg convention and the use of homogeneous transformations.

The inverse kinematics problem is analyzed and closed-form solutions are found for typical manipulation structures. The Jacobian is then introduced as the fundamental tool to describe differential kinematics, determine singular configurations, analyze redundancy, derive the statics model and even formulate inverse kinematics algorithms.

The equations of motion of a robotic system are found on the basis of the dynamic model which is useful for motion simulation and control algorithm synthesis. Two approaches respectively based on Lagrange formulation and Newton-Euler formulation are pursued.

Taught by

Bruno Siciliano



3.6 rating, based on 7 Class Central reviews

Start your review of Robotics Foundations I - Robot Modeling

  • Anonymous
    This course has a great content but the delivery and the support were terrible. First, the instructor did not use any other tools, such as presentation slides, whiteboard, etc. when explaining mathematical equations. Second, there were a number of issues with the assessments: sometimes images didn't appear, sometimes there were no right answers at all. The teaching team was slow when it comes to fixing these issues. They waited for complaints rather than reviewing the course thoroughly.
  • Anonymous
    it is a well presented class and needs more practical course as well.The kinematics part is well explained and I have learned a lot from this course.Please add some more visual for implementation like small projects.
  • Anonymous
    Great oportunity to learn about high technology and improve my skills as mechanichal engineer, providing me high knowledge to grow up professionally.
  • Anonymous
    During the video a blackboard to write the formula would be fine

    For the rest ok I understood the basic and problematics of robot modeling.
  • Profile image for Juan Pablo Sanchez
    Juan Pablo Sanchez
    I didnt like it. Excesive time talking about formulas. I was expecting to learn how to make some calculations. For me it was unuseful
  • Anonymous
    It is great course and i hope we can see more such as valuable courses to explain different kind of robotic. Thank you so much
  • Anonymous
    transparent writing table would improve the course .

    transparent writing table would improve the course .

Never Stop Learning.

Get personalized course recommendations, track subjects and courses with reminders, and more.