Modern Robotics Specialization – Project Repository

This repository contains all my project codes for the Modern Robotics Specialization by Northwestern University. The specialization consists of six subsequent courses covering fundamental and advanced robotics concepts, culminating in a capstone project where I developed motion planning and control algorithms for a KUKA YouBot mobile manipulator to perform a manipulation task.

Courses & Projects

1️⃣ Modern Robotics, Course 1: Foundations of Robot Motion

• Implemented forward and inverse kinematics for serial manipulators.
• Developed MATLAB scripts for computing transformations and Jacobians.

2️⃣ Modern Robotics, Course 2: Robot Kinematics

• Derived and implemented product of exponentials (PoE) formulation for kinematic analysis.
• Designed motion trajectories using cubic and quintic polynomial interpolation.

3️⃣ Modern Robotics, Course 3: Robot Dynamics

• Implemented recursive Newton-Euler and Lagrangian formulations for dynamic modeling.
• Simulated and analyzed the torque requirements for various robotic configurations.

4️⃣ Modern Robotics, Course 4: Robot Motion Planning and Control

• Developed sampling-based motion planning algorithms (RRT, PRM) in MATLAB.
• Implemented potential field and A path planning* for autonomous navigation.

5️⃣ Modern Robotics, Course 5: Robot Manipulation and Wheeled Mobile Robots

• Designed PID and feedforward controllers for robotic arms.
• Implemented computed torque control and operational space control strategies.
• Explored motion control strategies for wheeled mobile robots (WMRs).

6️⃣ Modern Robotics, Course 6: Capstone Project – Mobile Manipulation

• Developed motion planning and control algorithms for a KUKA YouBot mobile manipulator.
• Implemented trajectory tracking, inverse kinematics, and manipulation planning.
• Simulated the complete system in CoppeliaSim Edu with MATLAB for motion control.

Tech Stack & Tools

• Programming: MATLAB
• Libraries:
  • Matplotlib for visualization
  • Modern Robotics Library – NxRLab/ModernRobotics
• Simulations:
  • CoppeliaSim Edu – Coppelia Robotics
• Robotics Concepts: Kinematics, Dynamics, Motion Planning, Control, Trajectory Generation

Repository Structure

📂 Modern-Robotics-Specialization  
 ├── Course1_Foundations/  
 ├── Course2_Kinematics/  
 ├── Course3_Dynamics/  
 ├── Course4_Motion_Planning_Control/  
 ├── Course5_Manipulation_Wheeled_Robots/  
 ├── Course6_Capstone_KUKA_YouBot/  
 ├── README.md

Usage & Contributions

Feel free to explore the projects and use the code for reference.
Contributions, discussions, and improvements are always welcome!

Note

This specialization also facilitates programming with Python using the Modern Robotics Library linked above.
I chose to implement my projects in MATLAB due to university licensing availability, but all tasks can also be completed in Python.