HW1 — Robotics Course Project
Coordinate FramesHomogeneous Transforms
Overview: A series of eight homework projects spanning kinematics, motion planning, and control. Each card links to the PDF report on GitHub and a direct download.
HW2 — Robotics Course Project
Forward KinematicsDH Parameters
HW3 — Robotics Course Project
Inverse KinematicsClosed-Form Solutions
HW4 — Robotics Course Project
Jacobian MatrixVelcity/Force Mapping
HW5 — Robotics Course Project
SingularitiesManipulability
HW6 — Robotics Course Project
Trajectory PlanningTime Scaling
HW7 — Robotics Course Project
Robot DynamicsEuler/Lagrange
HW8 — Robotics Course Project
Robot ControlPD Controller