Here are 100 chapter titles for a book or course on robotic kinematics, progressing from beginner to advanced concepts:
I. Introduction to Robotic Kinematics (1-10)
- What is Robotic Kinematics? Understanding Robot Motion
- Why Study Kinematics? The Foundation of Robot Control
- Types of Robots and their Kinematic Structures
- Degrees of Freedom (DOF): Describing Robot Movement
- Coordinate Frames and Transformations: Representing Position and Orientation
- Homogeneous Transformations: A Powerful Tool for Kinematics
- Introduction to Forward Kinematics: Mapping Joint Angles to End-Effector Pose
- Introduction to Inverse Kinematics: Finding Joint Angles for a Desired End-Effector Pose
- The Importance of Kinematics in Robotics Applications
- Basic Kinematic Concepts: Links, Joints, and Frames
II. Forward Kinematics (11-20)
- Denavit-Hartenberg (DH) Parameters: A Systematic Approach
- Deriving DH Parameters for Different Robot Configurations
- Forward Kinematics of Serial Manipulators
- Forward Kinematics of Parallel Manipulators
- Forward Kinematics of Mobile Robots
- Examples of Forward Kinematics Calculations
- Computational Aspects of Forward Kinematics
- Forward Kinematics using Geometric Approaches
- Forward Kinematics and Robot Simulation
- Applications of Forward Kinematics
III. Inverse Kinematics (21-30)
- The Challenge of Inverse Kinematics: Existence and Uniqueness of Solutions
- Analytical Solutions for Inverse Kinematics: Simple Cases
- Geometric Solutions for Inverse Kinematics
- Numerical Solutions for Inverse Kinematics: Iterative Methods
- Inverse Kinematics for Redundant Robots
- Inverse Kinematics for Constrained Motions
- Inverse Kinematics with Obstacle Avoidance
- Inverse Kinematics and Robot Control
- Examples of Inverse Kinematics Calculations
- Comparison of Different Inverse Kinematics Methods
IV. Differential Kinematics (31-40)
- Introduction to Differential Kinematics: Relating Joint Velocities to End-Effector Velocities
- The Jacobian Matrix: A Fundamental Tool in Differential Kinematics
- Deriving the Jacobian for Serial Manipulators
- Deriving the Jacobian for Parallel Manipulators
- The Jacobian and Singularities: Understanding Limitations of Motion
- Velocity Transformations: Relating Linear and Angular Velocities
- Manipulability Ellipsoids: Visualizing Robot Motion Capabilities
- Differential Kinematics and Robot Control
- Applications of Differential Kinematics
- Inverse Differential Kinematics: Finding Joint Torques for Desired End-Effector Forces
V. Redundancy and Optimization (41-50)
- Redundant Robots: Advantages and Challenges
- Resolving Redundancy: Optimization Criteria
- Pseudo-Inverse and Weighted Pseudo-Inverse
- Task-Priority Inverse Kinematics
- Optimization Techniques for Kinematic Control
- Redundancy Resolution for Obstacle Avoidance
- Redundancy Resolution for Task Optimization
- Configuration Space and Redundancy
- Kinematic Control of Redundant Robots
- Applications of Redundant Robots
VI. Mobile Robot Kinematics (51-60)
- Kinematic Models for Wheeled Mobile Robots
- Nonholonomic Constraints: Understanding Limitations of Motion
- Forward Kinematics of Mobile Robots
- Inverse Kinematics of Mobile Robots
- Differential Kinematics of Mobile Robots
- Motion Planning for Mobile Robots
- Odometry and Localization
- Kinematic Control of Mobile Robots
- Different Types of Wheeled Mobile Robots
- Kinematics of Legged Robots
VII. Parallel Robot Kinematics (61-70)
- Introduction to Parallel Robots: Structure and Advantages
- Forward Kinematics of Parallel Robots
- Inverse Kinematics of Parallel Robots
- Differential Kinematics of Parallel Robots
- Singularity Analysis of Parallel Robots
- Workspace Analysis of Parallel Robots
- Design and Control of Parallel Robots
- Applications of Parallel Robots
- Comparison of Serial and Parallel Robots
- Hybrid Serial-Parallel Robots
VIII. Advanced Kinematics (71-80)
- Screw Theory: A Powerful Tool for Kinematic Analysis
- Exponential Coordinates and Lie Groups
- Dual Quaternions for Kinematics
- Kinematic Mapping and Workspace Analysis
- Trajectory Generation and Planning
- Dynamic Modeling and Control
- Force and Motion Control
- Compliance and Impedance Control
- Robust Kinematic Control
- Learning-Based Kinematic Control
IX. Kinematic Calibration and Identification (81-90)
- Robot Calibration: Improving Accuracy
- Kinematic Parameter Identification
- Measurement Techniques for Calibration
- Calibration Methods: Least Squares, Optimization
- Calibration of Serial Manipulators
- Calibration of Parallel Manipulators
- Calibration of Mobile Robots
- Error Analysis and Uncertainty Quantification
- Sensor Calibration and Integration
- Applications of Robot Calibration
X. Applications and Future Trends (91-100)
- Kinematics in Industrial Robotics
- Kinematics in Medical Robotics
- Kinematics in Aerospace Applications
- Kinematics in Humanoid Robotics
- Kinematics in Micro/Nano Robotics
- The Future of Robotic Kinematics
- Soft Robotics and Kinematics
- Biologically Inspired Kinematics
- AI and Machine Learning for Kinematics
- Challenges and Opportunities in Robotic Kinematics.