Robotics: Kinematics & Dynamics Simulation in MATLAB (Part3)

MATLAB-based Forward & Inverse Kinematics, Euler–Lagrange torque computation, trajectory simulation for Manipulators

The course " Robotics: Kinematics & Dynamics Simulation in MATLAB (Part3)" bridges theory and application by combining Denavit–Hartenberg (DH) modeling, kinematic analysis, and dynamic simulation through MATLAB programming. You will learn how to design and analyze robotic manipulators such as SCARA, RRP (Spherical) , RPP (Cylindrical), RRR (Articulated) , and PPP (Cartesian) arms; visualize their motion in both 2D and 3D, and understand how their physical structure influences workspace and performance.

Starting with the fundamentals of Classical and Modified Denavit–Hartenberg (DH) conventions, you’ll learn to construct transformation matrices, derive forward and inverse kinematics, and explore the geometric interpretation of elbow-up and elbow-down configurations in 2-link planar robots. This provides a clear understanding of how multiple joint combinations can achieve the same end-effector position, and when each configuration is most suitable in industrial or academic contexts.

Moving beyond kinematics, the course delves into robot dynamics using the Euler–Lagrange formulation. You will derive and implement the Inertia (M), Coriolis/Centrifugal (C), and Gravity (G) matrices, and learn how these affect manipulator motion and control. With complete MATLAB coding demonstrations, you’ll generate end-effector trajectories, visualize workspace coverage, and animate manipulator motion step-by-step. Additionally, Geometric Modeling of Robotic Arms and their animation in MATLAB also performs in simple manner

By the end of this course, you will be able to:

• Develop kinematic and dynamic models of robotic manipulators

• Apply Classical Denavit–Hartenberg and Modified Denavit–Hartenberg conventions for serial link robots

• Simulate 3D motions and 2D projections (XY, XZ, or YZ views) using MATLAB visualization tools

• Derive and implement forward and inverse kinematics (including elbow-up and elbow-down such as for 2R and 3R planar manipulator arms)

• Construct Euler–Lagrange dynamic equations for manipulators like RRR and RRP

• Analyze Coriolis, centrifugal, and gravitational effects on motion

• Generate and interpret end-effector trajectories and workspace plots

This course is ideal for:

• Students and researchers in Mechanical, Mechatronics, Robotics, or Electrical Engineering

• Professionals and enthusiasts looking to strengthen skills in robot modeling, kinematics, and dynamics

• Automation and control engineers, software developers, and hobbyists working with MATLAB or robotic manipulators

• Participants preparing for robotics projects, simulations, or competitions