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<!doctype html>
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<title>Robotics with MATLAB</title>
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<h1 class="display-1 text-center">Robotics with MATLAB</h1>
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<a class="dropdown-item" href="https://www.youtube.com/playlist?list=PLc7bpbeTIk77hTOItZGt5Fn-zIWmjAblh"><b> Video Playlist: </b>CoppeliaSim Tutorial Videos</a>
<a class="dropdown-item" href="robotics/f20/CoppeliaSim/Coppelia1_modeling_projectile_w_drag.zip"><b> CoppeliaSim 1: </b>Projectile Modeling</a>
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<a class="dropdown-item" href="robotics/f20/CoppeliaSim/Coppelia4_proximity_vision_sensor.zip"><b>CoppeliaSim 4: </b>Proximity Vision Sensor</a>
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<a class="dropdown-item" href="robotics/f20/CoppeliaSim/Coppelia6_pick_and_place1.zip"><b>CoppeliaSim 6: </b> Pick and Place 1</a>
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<a class="dropdown-item" href="robotics/f20/Projects/project_maze.zip"><b>Project 1: </b> MAZE</a>
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<a class="dropdown-item" href="robotics/f20/Projects/project_pump_swing.zip"><b>Project 4: </b>PUMP AND SWING</a>
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<a class="dropdown-item" href="http://tiny.cc/legged"><b>Legged Robotics</b></a>
<a class="dropdown-item" href="http://tiny.cc/robotics"><b>Robotics MATLAB</b></a>
<a class="dropdown-item" href="http://tiny.cc/roboticspy"><b>Robotics Python</b></a>
<a class="dropdown-item" href="http://tiny.cc/mujoco"><b>MuJoCo C</b></a>
<a class="dropdown-item" href="http://tiny.cc/mujocopy"><b>MuJoCo Python</b></a>
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<p><b>
<b>About:</b> 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. MATLAB code provides examples on how to program the physics, develop controllers, and animate the system (see Downloads/Links: MATLAB links for tutorials). The YouTube playlist is here <a href="http://tiny.cc/robotics_f20">http://tiny.cc/robotics_f20.</a> A free simulator for education, <a href="https://www.coppeliarobotics.com/">CoppeliaSim</a>, is used for modeling and control code is written in Lua. MATLAB 2021 with symbolic and optimization toolbox and CoppeliaSim v4.1.0 (July 21, 2020) were used.
</b></p> </div>
<h3 class="display-1 text-center"> All Material</h3>
<div align="center" class="col-xl-12" id="main">
<table style="width:100%" border="3">
<tr>
<!-- Adding the header colums of content materials and videos -->
<th style="text-align: center"><big><big>Lectures</big></big></th>
<th style="text-align: center"><big><big>Youtube Videos</big></big></th>
<th style="text-align: center"><big><big>Lecture Notes</big></big></th>
<th style="text-align: center"><big><big>Source Code</big></big></th>
</tr>
<tr style="background-color: #f0f0f9">
<td rowspan="3">MATLAB Tutorials and Syllabus</td>
<td> <a href="https://youtu.be/Am2PJmDh0GE">MATLAB Basics</a></td>
<td> <a href="robotics/f20/notes/Lec1b_MATLAB_Basics.pdf">Basics PDF</a></td>
<td rowspan="3" align="center">N/A</td>
</tr>
<tr style="background-color: #f0f0f9">
<td><a href="https://youtu.be/wnK08yAXpPY"> MATLAB Scripts</a></td>
<td><a href="robotics/f20/notes/Lec2a_MATLAB_Scripts.pdf">Scripts PDF</a> </td>
</tr>
<tr style="background-color: #f0f0f9">
<td rowspan="1"> <a href="https://youtu.be/8uRHF3lrc3k"> MATLAB Animations </a></td>
<td> <a href="robotics/f20/notes/Lec2b_MATLAB_Animations.pdf">Animations PDF </a></td>
</tr>
<tr>
<td><b>3. </b> <strong> Coordinate Transformation</strong></td>
<td> <a href="https://youtu.be/2-jMSS5HkvA">Coordinate Transformation </a></td>
<td> <a href="robotics/f20/Lectures/Lec3_Coordinate_Transformation.pdf"> Coordinate Transformation PDF</a></td>
<td align="center"> <a href="robotics/f20/MATLAB/lec11_double_pendulum.zip" >Lec Code 3</a></td>
</tr>
<tr style="background-color: #f0f0f9">
<td> <b>4. </b>Forward Kinematics Manipulator</td>
<td> <a href="https://youtu.be/3yTV8lH9SxI">Forward Kinematics Manipulator</a></td>
<td><a href="robotics/f20/Lectures/Lec4_Forward_Kinematics_Manipulator.pdf">Forward Kinematics Manipulator PDF</a></td>
<td align="center"> <a href="robotics/f20/MATLAB/lec4_manipulator_fwd_kinematics.zip">Lec Code 4</a></td>
</tr>
<tr>
<td rowspan="1"><b>5. Inverse Kinematics Manipulator </b> </td>
<td> <a href = "https://youtu.be/Rbi3FwpP8p8">Inverse Kinematics Manipulator</a></td>
<td rowspan="1"> <a href="robotics/f20/Lectures/Lec5_Inverse_Kinematics_Manipulator.pdf">Inverse Kinematics Manipulator PDF</a></td>
<td rowspan="1" align="center"> <a href="robotics/f20/MATLAB/lec5_inverse_kinematics.zip">Lec Code 5</a></td>
</tr>
<tr style="background-color: #f0f0f9">
<td>6. Forward Kinematics Manipulator of Differential Wheel</td>
<td> <a href="https://youtu.be/n8Tda3KFvZc">Forward Kinematics Manipulator Differential Wheel</a></td>
<td align=> <a href="robotics/f20/Lectures/Lec6_Forward_Kinematics_DifferentialWheel_Drive.pdf"> Differential Wheel PDF</a></td>
<td align="center"><a href="robotics/f20/MATLAB/lec6_car_forward_kinematics.zip">Lec 6 Code</a></td>
</tr>
<tr>
<td><b>7. </b> <strong> Inverse Kinematics of Differential Wheel</strong></td>
<td><a href="https://youtu.be/6oor2CnSx8M">Inverse Kinematics Manipulator Differential Wheel</a></td>
<td><a href="robotics/f20/Lectures/Lec7_Inverse_Kinematics_DifferentialWheel_Drive.pdf">Inverse Kinematics Manipulator Differential Wheel Pdf</a></td>
<td align="center"> <a href="robotics/f20/MATLAB/lec7_car_inverse_kinematics.zip">Lec 7 Code</a></td>
</tr>
<tr style="background-color: #f0f0f9">
<td>8. Euler-Lagrange Projectile</td>
<td> <a href="https://youtu.be/fix1m2Wmyh0">Euler-Lagrange Projectile</a></td>
<td> <a href="robotics/f20/Lectures/Lec8_EulerLagrange_Projectile.pdf">Projectile PDF</a></td>
<td align="center"><a href="robotics/f20/MATLAB/lec8_simple_projectile.zip">Lec 8 Code</a></td>
</tr>
<tr>
<td rowspan="1"><b>9. Euler-Lagrange Symbolics</b></td>
<td> <a href="https://youtu.be/oLgkobyyprs">Hybrid Systems Bouncing Ball Example</a></td>
<td><a href="robotics/f20/Lectures/Lec9_EulerLagrange_Symbolics.pdf">Hybrid Intro PDF</a></td>
<td rowspan="1" align="center"><a href="robotics/f20/MATLAB/Lec9_symbolic_differentiation.zip">Lec 9 Code</a></td>
</tr>
<tr style="background-color: #f0f0f9">
<td>10. Solving boundary Value Problems</td>
<td> <a href="https://youtu.be/64Vvx8Pqsfc">Solving boundary Value Problems</a></td>
<td> <a href="robotics/f20/Lectures/Lec10_SolvingBoundaryValueProblem_Projectile.pdf">Boundary Value Probelms PDF</a></td>
<td align="center"><a href="robotics/f20/MATLAB/lec10_boundary_value_problem_projectile.zip">Lec 10 Code</a></td>
</tr>
<tr>
<td><b>11. </b>Euler-Lagrange Double Pendulum.</td>
<td> <a href="https://youtu.be/hAOl5kPH0Ig">Euler-Lagrange </a></td>
<td> <a href="robotics/f20/Lectures/Lec11_EulerLagragne_DoublePendulum.pdf">Euler-Lagrange PDF</a></td>
<td align="center"> <a href="robotics/f20/MATLAB/lec11_double_pendulum.zip">Lec 11 Code</a></td>
</tr>
<tr style="background-color: #f0f0f9">
<td rowspan="1"><b>12. </b>Jacobian Applications</td>
<td rowspan="1"><a href="https://youtu.be/yFh-HDtPbgQ">Jacobian</a></td>
<td> <a href="robotics/f20/Lectures/Lec12_Jacobian_Applications.pdf"> Jacobian PDF</a></td>
<td align="center"><a href="robotics/f20/MATLAB/lec12_jacobian.zip">Lec 12 Code</a></td>
</tr>
<tr>
<td rowspan="1"><b>13. </b><strong>Hybrid Systems</strong></td>
<td> <a href="https://youtu.be/G0baxHWBFmA">Hybrid Systems</a></td>
<td><a href="robotics/f20/notes/Lec11_Closed_Loop_Chains.pdf">Hybrid Systems PDF</a></td>
<td align="center"> <a href="robotics/f20/code/Lec11a_ClosedLoopSystems.zip">Lec 13 Code</a></td>
</tr>
<tr style="background-color: #f0f0f9">
<td><b>14. </b>Passive Dynamic Walking (PDW) (part1)</td>
<td><a href="https://youtu.be/UmQTyzzh2EE">Passive Dynamic Walker 1 </a></td>
<td><a href="robotics/f20/Lectures/Lec14_Passive_Dynamic_Walking1.pdf">PDW 1 PDF</a></td>
<td align="center">N/A</td>
</tr>
<tr>
<td><b>15. </b><strong>Passive Dynamic Walking (part2)</strong></td>
<td><a href="https://youtu.be/kSy6ODsssKM">Passive Dynamic Walker 2 </a></td>
<td><a href="robotics/f20/Lectures/Lec15_Passive_Dynamic_Walking2.pdf">PDW 2 PDF </a></td>
<td align="center">N/A</td>
</tr>
<tr style="background-color: #f0f0f9">
<td rowspan="1"><b>16. </b>Passive Dynamic Walking (part3)</td>
<td><a href="https://youtu.be/tXQ4nLX-omY">Passive Dynamic Walker 3</a></td>
<td><a href="robotics/f20/Lectures/Lec16_Passive_Dynamic_Walking3.pdf">PDW 3 PDF</a></td>
<td align="center"> <a href="robotics/f20/MATLAB/lec16_passive_walker.zip">Lec 16 Code</a></td>
</tr>
<tr>
<td rowspan="1"><b>17. </b><strong>Constrained and Unconstrained Optimization</strong></td>
<td><a href="https://youtu.be/IfuQ-Bhly8I">Const. and Unconst. Optimization</a></td>
<td><a href="robotics/f20/Lectures/Lec17_Constrained_Unconstrained_Optimization.pdf">Const. and Unconst. Optimization PDF</a></td>
<td align="center"><a href="robotics/f20/MATLAB/lec17_optimization.zip">Lec 17 Code</a></td>
</tr>
<tr style="background-color: #f0f0f9">
<td><b>18. </b>Trajectory Optimization (part1)</td>
<td> <a href="https://youtu.be/HVIQofPmYsA">Trajectory Optimization 1</a></td>
<td><a href="robotics/f20/Lectures/Lec18_Trajectory_Optimization1.pdf"> Trajectory Optimization 1 PDF</a></td>
<td align="center">N/A</td>
</tr>
<tr>
<td><b>19. </b><strong>Trajectory Optimization (part2)</strong></td>
<td><a href="https://youtu.be/CJ-KENnfIuw">Trajectory Optimization 2</a></td>
<td><a href="robotics/f20/Lectures/Lec19_Trajectory_Optimization2.pdf">Trajectory Optimization 2 PDF</a></td>
<td align="center"> <a href="robotics/f20/MATLAB/lec19_trajectory_optimization.zip">Lec 19 Code</a></td>
</tr>
<tr style="background-color: #f0f0f9">
<td rowspan="1"><b>20. </b>3D Rotations</td>
<td> <a href="https://youtu.be/AhzyJfddNeE">3D Rotations</a></td>
<td><a href="robotics/f20/Lectures/Lec20_3D_rotations.pdf">3D Rotations PDF</a></td>
<td align="center"><a href="robotics/f20/MATLAB/lec20_intro_rotations.zip">Lec 20 Code</a></td>
</tr>
<tr>
<td><b>21. </b><strong>Euler Angles</strong></td>
<td><a href="https://youtu.be/VQkzUo89heg">Euler-Angles</a></td>
<td> <a href="robotics/f20/notes/Lec18_Deubgging_Trajectory_Optimization.pdf">Euler-Angles PDF</a><br></td>
<td align="center">N/A</td>
</tr>
<tr style="background-color: #f0f0f9">
<td> <b>22. </b>3D Angular Velocity (part1)</td>
<td><a href="https://youtu.be/gqwtBAvg8hY">3D Angular Velocity 1</a></td>
<td> <a href="robotics/f20/Lectures/Lec22_3D_Angular_Velocity1.pdf">3D Angular Velocity 1 PDF</a></td>
<td align="center">N/A</td>
</tr>
<tr>
<td> <b>23. </b><strong>Angular Velocity (part2)</strong></td>
<td><a href="https://youtu.be/qCcqskOfc98">3d Angular Velocity 2</a></td>
<td><a href="robotics/f20/Lectures/Lec23_3D_Angular_Velocity2.pdf">Angular Velocity 2 PDF</a></td>
<td align="center">N/A</td>
</tr>
<tr style="background-color: #f0f0f9">
<td> <b>24. </b>3D Dynamics</td>
<td><a href="https://youtu.be/m4mb9n6c7Ns">3D Dynamics Video</a></td>
<td><a href="robotics/f20/Lectures/Lec24_3D_Dynamics.pdf">3D Dynamics PDF</a></td>
<td align="center"><a href="robotics/f20/MATLAB/lec24_3D_dynamics.zip"> Lec 24 Code</a></td>
</tr>
<!--This is one of those weird units where there are multiple numbers on it-->
<tr>
<td><b>25. and 26 </b><strong>3D Quadcopter</strong></td>
<td><a href="https://youtu.be/4hlQ2pf842U">Quadcopter</a></td>
<td><a href="robotics/f20/Lectures/Lec25_26_3D_Quadcopter.pdf">Quadcopter PDF</a></td>
<td align="center"><a href="robotics/f20/MATLAB/lec25_3D_quadcopter.zip"> Lec 25 Code</a></td>
</tr>
<!--This is one of those weird units where there are multiple numbers on it-->
<tr style="background-color: #f0f0f9">
<td><b>27. </b>3D Homogeneous Transformations</td>
<td> <a href="https://youtu.be/3LQOYZab4LQ">3D Transformations</a></td>
<td> <a href="robotics/f20/Lectures/Lec27_3D_Homogenous_Transformations.pdf">3D Transformations PDF</a></td>
<td align="center">N/A</td>
</tr>
<tr>
<td><b>28. </b>Denavit Hartenberg (DH) Transformation</td>
<td> <a href="https://youtu.be/lEgiTJdhHIQ">Denavit-Hartenberg</a></td>
<td><a href="robotics/f20/Lectures/Lec28_Denavit_Hartenberg_Handout.pdf">DH transformation PDF</a></td>
<td align="center">N/A</td>
</tr>
<tr style="background-color: #f0f0f9">
<td><b>28.1 </b>Manipulator Kinematics (part1)</td>
<td> <a href="https://youtu.be/ercxaK08Mj8">Manipulator Kinematics 1</a></td>
<td> <a href="robotics/f20/Lectures/Lec27_3D_Homogenous_Transformations.pdf">Manipulator Kinematics PDF</a></td>
<td align="center">N/A</td>
</tr>
<tr>
<td><b>29. </b><strong>Manipulator Kinematics (part2)</strong></td>
<td><a href="https://youtu.be/ercxaK08Mj8"> Manipulator Kinematics 2</a> </td>
<td><a href="robotics/f20/Lectures/Lec29_3D_Manipulator_Kinematics2.pdf">Manipulator Kinematics 2 PDF</a></td>
<td align="center">N/A</td>
</tr>
<tr style="background-color: #f0f0f9">
<td><b>30. </b>Manipulator Kinematics (part3)</td>
<td> <a href="https://youtu.be/YJkDWqBWhKU">Manipulator Kinematics 3</a></td>
<td><a href="robotics/f20/Lectures/Lec30_3D_Manipulator_Kinematics3.pdf">Manipaulator Kinematics 3 PDF</a></td>
<td align="center">N/A</td>
</tr>
<tr>
<td><b>31. </b>Manipulator Inverse Kinematics</td>
<td> <a href="https://youtu.be/LSprDt2kwlU">Manipulator Inverse Kinematics</a></td>
<td><a href="robotics/f20/Lectures/Lec31_3D_Manipulator_Inverse_Kinematics.pdf">Manipulator Inverse Kinematics PDF</a></td>
<td align="center"> <a href="robotics/f20/MATLAB/lec31_3dmanipulator.zip">Lec 31 Code</a></td>
</tr>
<tr style="background-color: #f0f0f9">
<td rowspan="1"><b>32 and 33. </b>Trajectory Generation</td>
<td> <a href="https://youtu.be/RVRaaKkbqzM">Trajectory Generation</a></td>
<td rowspan="1"><a href="robotics/f20/Lectures/Lec32_33_Trajectory_Generation.pdf">Trajectory Generation PDF</a></td>
<td rowspan="1" align="center"> <a href="robotics/f20/MATLAB/lec32_trajectory_generation.zip"> Lec 32/33 Code</a></td>
</tr>
<tr>
<td> <b>34. </b> <strong> Manipulator Control (part1)</strong></td>
<td> <a href="https://youtu.be/kZH1J16wiDg">Manipulator Control 1</a></td>
<td> <a href="robotics/f20/Lectures/Lec34_3D_Manipulators_Control1.pdf">Manipulators Control 1 PDF</a></td>
<td align="center"> <a href="robotics/f20/MATLAB/lec34_simple_pd.zip"> Lec 34 Code </a></td>
</tr>
<tr style="background-color: #f0f0f9">
<td> 35. Manipulator Control (part2)</td>
<td> <a href="https://youtu.be/wVwjYHocd6k">Manipulator Control 2</a></td>
<td> <a href="robotics/f20/Lectures/Lec35_3D_Manipulators_Control2.pdf">Manipulator Control 2 PDF</a></td>
<td align="center"><a href="robotics/f20/MATLAB/lec35_control_partitioning.zip">Lec code 35</a></td>
</tr>
<tr>
<td rowspan="3"> 36. Manipulators Control (part3)</td>
<td rowspan="3"> <a href="https://youtu.be/hkZdG6YumVg">Manipulator Control 3</a></td>
<td rowspan="3"><a href="robotics/f20/Lectures/Lec36_3D_Manipulators_Control3.pdf">Manipulator Control 3 PDF</a></td>
<td align="center"><a href="robotics/f20/MATLAB/lec36_pendulum_trajectory_tracking.zip">Lec 36.1 code</a></td>
</tr>
<tr>
<td align="center"><a href="robotics/f20/MATLAB/lec36_twolink_cartesian_control.zip">Lec 36.2 code</a></td>
</tr>
<tr>
<td align="center"><a href="robotics/f20/MATLAB/lec36_twolink_trajectory_tracking.zip">Lec 36.3 code</a></td>
</tr>
</table> </div>
<br><br>
<h1 class="display-2 text-center"> Projects</h1>
<div align="center" class="col-xl-12">
<table style="width:100%" border="3">
<tr>
<!-- Adding the header colums of content materials and videos -->
<th style="text-align: center"><big><big>Projects</big></big></th>
<th style="text-align: center"><big><big>Content (PDF Inside)</big></big></th>
</tr>
<tr style="background-color: #f0f0f9" align="center">
<td rowspan="1" align="center"><strong><big>Project 1: Pong game</big></strong></td>
<td rowspan="1"> <a href="robotics/f20/Projects/project_pong.zip">PONG PROJECT DOWNLOAD</a></td>
</tr>
<tr align="center">
<td rowspan="1" align="center"><strong><big>Project 2: Pumping a swing</big></strong></td>
<td rowspan="1"> <a href="robotics/f20/Projects/project_pump_swing.zip">PUMP SWING DOWNLOAD</a></td>
</tr>
<tr style="background-color: #f0f0f9" align="center">
<td rowspan="1" align="center"><strong><big>Project 3: Maze navigation</big></strong></td>
<td rowspan="1"> <a href="robotics/f20/Projects/project_maze.zip">MAZE DOWNLOAD</a></td>
</tr>
<tr align="center">
<td align="center" rowspan="1"><strong><big>Project 4: Pick and place robot</big></strong></td>
<td rowspan="1"> <a href="robotics/f20/Projects/project_pick_and_place.zip">PICK AND PLACE DOWNLOAD</a></td>
</tr>
</table> </div>
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