This is the repository for the code files of the Theory of Robotics and Mechatronics lecture at the Institute of Robotics and Intelligen Systems and the Multi-Scale Robotics Lab at ETH Zurich taught by Dr. Sascha Stoeter and Dr. Petr Korba under Prof. Dr. Brad Nelson. The lecture covered the following topics
- Rigid motions
- Homogeneous transformations
- Forward and inverse kinematics of multiple degree of freedom manipulators
- Velocity kinematics
- Motion planning
- Trajectory generation
- Sensing
- Vision
- Control
The repository contains a folder with the code to the problem sets, where all of the theoretical knowledge of the lecture had to be applied.