Courses / theory

Maths for Robotics

beginner~20 hours22 lessonsEnvironment: pyodide

Prerequisites: python3

Start: Vectors as arrows and as dataPractice questions

Modules

Module 1 — Vectors
  1. 1Vectors as arrows and as data
  2. 2Dot product and projections
  3. 3Cross product and right-hand rule
  4. 4Widget: vector playground
Module 2 — Matrices and linear maps
  1. 1Matrices transform space
  2. 2Matrix multiplication
  3. 3Inverse and determinant intuition
  4. 4Solving linear systems (NumPy)
Module 3 — Rotations
  1. 12D rotation matrices
  2. 23D rotations and axes
  3. 3Euler angles and their pitfalls
  4. 4Quaternions without tears
  5. 5Widget: rotation visualizer
Module 4 — Homogeneous transforms
  1. 1Frames and poses
  2. 2The 4x4 transform matrix
  3. 3Composing transforms
  4. 4Inverting transforms
  5. 5Widget: frame chain explorer
Module 5 — Calculus and probability refresher
  1. 1Derivatives as rates (velocity, acceleration)
  2. 2Partial derivatives and Jacobians preview
  3. 3Gaussian distributions
  4. 4Mean, covariance, and why sensors are noisy

Textbooks

  • Modern Robotics (Ch. 2–3) — Lynch & Parkfree-book
    Free PDF from the authors

Video resources

  • Essence of Linear Algebra — 3Blue1Brown