> ## Documentation Index
> Fetch the complete documentation index at: https://aegean.ai/llms.txt
> Use this file to discover all available pages before exploring further.

# Kinematics & Dynamics

> Robot kinematics, configuration spaces, homogeneous coordinates, and motion representations.

This section covers the mathematical foundations of how robots are structured and move, configuration spaces, coordinate transformations, and motion models for wheeled and articulated robots.

<CardGroup cols={2}>
  <Card title="Kinematics overview" icon="gears" href="/aiml-common/lectures/kinematics/index">
    Introduction to robot kinematics and rigid body motion.
  </Card>

  <Card title="Configuration space" icon="cube" href="/aiml-common/lectures/kinematics/configuration-space/index">
    Degrees of freedom, joint spaces, and configuration representations.
  </Card>

  <Card title="Homogeneous coordinates" icon="vector-square" href="/aiml-common/lectures/kinematics/homogeneous-coordinates/index">
    Representing points and transformations in projective space.
  </Card>

  <Card title="Motion representations" icon="arrows-rotate" href="/aiml-common/lectures/kinematics/motion-representations/index">
    Rotation matrices, Euler angles, quaternions, and SE(3).
  </Card>
</CardGroup>

## References

* [Modern Robotics Videos](https://hades.mech.northwestern.edu/index.php/Modern_Robotics_Videos) (Northwestern University), companion video lectures to Kevin Lynch and Frank Park's *Modern Robotics: Mechanics, Planning, and Control*.

***

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