CET721 Robot Kinematics

Course Provider

School of Electrical and Electronic Engineering (EEE)



Academic Unit



Robot kinematics and their modelling and analysis are essential in robot systems. Therefore, it is important to learn basic concepts of kinematics in robotics and their applications in solving practical robotic problems. The objective of this course is to introduce learners to basic concepts of kinematics in robotics. The focus is to provide learners with the knowledge and skills in modelling and analysis of robot kinematics. This course also covers trajectory planning and differential motion so as to provide a broader understanding of the topic.

 This course is part of:

- Graduate Certificate in Computer Control and Automation
- FlexiMasters in Computer Control and Automation


Download Learning Pathway E-Guide

Upon completion, learners should:

1. Obtain the forward kinematics of a robotic manipulator using Denavit-Hartenberg algorithm;

2. Solve the inverse kinematic problem and assign tool frames in a robot work cell and;

3. Interpret differential motion and derive a Jacobian matrix of the robot manipulator.

Classification of robots and Homogeneous transformation. Kinematics: Forward kinematics; Inverse kinematics; Jacobian matrix. Trajectory planning.

Automation Engineers for upgrading and Engineers who wish to switch to the automation field.

Standard Course Fee: S$1,635

SSG Funding Support

 Course fee

Course fee payable after SSG funding, if eligible under various schemes


BEFORE funding & GST

AFTER funding & 9% GST

Singapore Citizens (SCs) and Permanent Residents (PRs) (Up to 70% funding)



Enhanced Training Support for SMEs (ETSS)


SCs aged ≥ 40 years old
SkillsFuture Mid-career Enhanced Subsidy (MCES)
(Up to 90% funding)

  • Standard course fee is inclusive of GST.
  • NTU/NIE alumni may utilise their $1,600 Alumni Course Credits. Click here for more information.


Read more about funding
CET715 Discrete Time System Modelling and Analysis1
CET716 State-Space Design Methods1
CET717 Optimal Control, Design and Implementation of Digital Controllers1
CET718 Linear and Nonlinear Programming1
CET719 Random Processes and Queuing Models1
CET720 Decision Analysis1
CET722 Robot Control1
CET723 Robotic Sensing and Sensors1
CET724 Image Processing for Vision1
CET725 Pattern Recognition and Stereo Vision1
CET726 Three-dimensional computer vision1
CET727 Process modelling1
CET728 Model predictive control1
CET729 Multivariable process control1

Listed courses are:

  • Credit-bearing and stackable to Graduate Certificate in Computer Control and Automation (total 9AUs) and FlexiMasters in Computer Control and Automation (total 15AUs)
  • SSG funded and SkillsFuture Credit approved