Advanced Robotic Kinematics and Dynamics


The course “Advanced Robotic Kinematics and Dynamics” offers the students a deeper understanding of mathematical approaches and modelling strategies in the fields of industrial robotics. The focus is set on the kinematic and dynamic analysis of serial manipulators in particular and their motion. The goal of the lecture is to teach the students all the basics needed for selection, movement control and programming of those robotic structures.

Lecture Contents

This lecture is promoted by the International Academy of the RWTH Aachen University.
The readings cover the theoretical aspects of robot mathematics, hence kinematic and dynamic analysis of a handling device. The presented topics span from the bare structure of a robotic handling problem to the abstract modelling and numerical optimization of the robot motion.
The exercises offer a practical approach to the lecture’s content. Therefore, both a reading-style exercise and an online course in Mathwork’s Cody Coursework offer a comprehensive learning environment. During the online and offline courses, the students will implement a complete model of an industrial manipulator in Matlab.


Introduction to the robotic structure

  • Kinematic structures
  • Pose, orientation and position
  • Angle representations
  • Unit quaternions

Robotic kinematics

  • Workspace analysis
  • Coordinate transformation
  • Denavit-Hartenberg convention
  • Direct kinematics
  • Inverse kinematics
  • Differential kinematics
  • Motion analysis
  • Numerical and analytical computation methods

Robot control

  • Dynamic and static modelling
  • Optimization
  • Trajectory planning

Additional exercise content

  • Basic programming with Mathworks Matlab
  • Online courses with self-assessment functionality


Institute of Mechanism Theory, Machine Dynamics and Robotics

RWTH Aachen University

Eilfschornsteinstraße 18

52062 Aachen



Phone: +49 241 80 95546

Fax:      +49 241 80 92263


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