This repository contains a collection of Jupyter Notebooks designed to accompany the two-part Tutorial on Manipulator Differential Kinematics published in the IEEE Robotics and Automation Magazine.

A kinematic model is a mathematical representation of a robot’s motion that focuses on the geometric relationships between elements and ignores external forces that affect motion. Kinematic models are ...

Forward kinematics calculates the position and orientation of the robot end-effector from the joint coordinates q. Therefore, it is a map that takes the joint values to the position and orientation of ...