Robot Mechanics, Modelling, and Simulation


Content, progress and pedagogy of the module

Learning objectives


  • Fundamental aspects related to robot kinematics
  • Methods of how to make spatial description of objects
  • Basic methodologies for kinematic modelling of robot manipulators
  • Principles for kinematic robot simulation
  • Transforming task description to robot movements


  • Apply homogeneous transformation matrices to represent position and orientation of objects
  • Setup the direct and inverse kinematics of a robot
  • Design simple trajectory planners, including Cartesian and joint interpolators
  • Program an industrial robot to carry out various production tasks
  • Transform the task space descriptions to robot movements
  • Simulate the kinematic behaviour of a robot


  • Must be able to program a robot so that the desired kinematic behaviour is obtained.
  • Must be able to simulate the kinematics of a robot
  • Must be able to solve simple production tasks with an industrial robot.

Type of instruction

See the general description of the types of instruction described in the introduction to Chapter 3.



Name of examRobot Mechanics, Modelling, and Simulation
Type of exam
Written or oral exam
Assessment7-point grading scale
Type of gradingInternal examination
Criteria of assessmentThe criteria of assessment are stated in the Examination Policies and Procedures

Facts about the module

Danish titleRobot kinematic, modellering og simulering
Module codeESNROBB2K1
Module typeCourse
Duration1 semester
Language of instructionEnglish
Empty-place SchemeYes
Location of the lectureCampus Aalborg
Responsible for the module


Education ownerBachelor of Science (BSc) in Engineering (Robotics)
Study BoardStudy Board of Electronics and IT
DepartmentDepartment of Electronic Systems
FacultyThe Technical Faculty of IT and Design