Robot configurations and coordinate systems, forward and inverse kinematics, programming and trajectory planning, end effectors, collaborative robots, and industrial robot integration and safety.
Every industrial robot maps onto the same sense-think-act architecture running through this program, extended here to multiple coordinated axes: joint encoders and increasingly force/torque and vision sensing feed a motion controller running kinematics and trajectory planning, which commands servo drives at each joint. This module works through robot configurations and coordinate frames, degrees of freedom and workspace, forward and inverse kinematics, programming methods, end-of-arm tooling, collaborative robot safety under ISO/TS 15066, and industrial robot integration and selection under ISO 10218.
Two worked calculations anchor the module in real numbers: a forward-kinematics example computing an end-effector position from a two-link arm's joint angles, and an inverse-kinematics example using the law of cosines to find the elbow angle — and its second, equally valid solution — for a target position.