Robotics, Vision & Autonomy

Robots that see and navigate. Robot kinematics and dynamics, machine vision, state estimation with Kalman filters, and autonomous mobile robots with SLAM and path planning.

• Robot Kinematics — Kinematics maps joint angles to where the robot's tool is — and back. Learn joints and degrees of freedom, coordinate frames and homogeneous transforms, Denavit–Hartenberg parameters, forward and inverse kinematics, workspace, Jacobians and singularities.
• Dynamics — Robot dynamics relates joint torques to motion. Learn gravity, inertia, Coriolis and centrifugal terms, the manipulator equation, Lagrange and Newton–Euler methods, payload effects, and how to size joint torques for a duty cycle.
• Machine Vision for Automation — Giving machines eyes. Learn vision-system components (cameras, sensors, lenses, lighting), resolution and field of view, the pinhole camera model and calibration (intrinsics, extrinsics, distortion), image processing (thresholding, filtering, edges, morphology, blobs, template matching), measurement and inspection, 2-D/3-D vision (stereo, structured light, time-of-flight), deep-learning inspection, and vision-guided robotics — with Python for FOV/resolution, blob centroids and pixel-to-world mapping.
• Kalman Filtering & Model Predictive Control — Estimation and optimisation at the top of the control pyramid. Learn the Kalman filter (predict/update, gain, covariance, Q and R tuning), sensor fusion and the extended Kalman filter, and model predictive control (prediction horizon, cost function, constraints, receding horizon, offset-free MPC) — with a running Kalman filter and a constrained MPC in plain Python.
• Mobile Robotics & Autonomous Navigation — Robots that move around. Learn locomotion types, differential-drive and other kinematic models, wheel odometry and its drift, sensors (encoders, IMU, lidar, cameras, GNSS), state estimation and sensor fusion, occupancy-grid mapping and SLAM, path planning (A*, Dijkstra, RRT), path following and obstacle avoidance, ROS 2 and the navigation stack, AGVs/AMRs in industry and safety — with Python for odometry and A* planning.