Matjaž Mihelj (Ph.D., University of Ljubljana, 2002) is a Full Professor at the University of Ljubljana. His research interests are in human-robot interaction, rehabilitation robotics, and wearable sensors. He has authored or coauthored over 40 journal publications and 9 monographs, and holds 3 patents. His contributions have been recognized with several national and international awards.Tadej Bajd (Ph.D., University of Ljubljana, 1979) is President of the Slovenian Academy of Sciences and Arts, a Professor Emeritus at the University of Ljubljana, and a Fellow of the IEEE, AIMBE, and EAMBES. He is a member of the European Academy of Sciences and Arts and Slovenian Academy of Engineering.  He is the author or coauthor of over 100 journal papers and several monographs.Jadran Lenarčič (Ph.D., University of Ljubljana, 1986) is currently Director of the J. Stefan Institute, Ljubljana. His basic research interests include robotics, robot kinematics, biorobotics and humanoid robotics. He has edited a series of books on Advances in Robot Kinematics, and is a member of both the Slovenian Academy of Engineering and Accademia delle scienze di Bologna.Aleš Ude (Ph.D., University of Karlsruhe, 1995) is Head of the Department of Automatics, Biocybernetics, and Robotics at J. Stefan Institute, Ljubljana, and an Associate Professor at the University of Ljubljana. His research interests include robot sensorimotor learning, robot vision, humanoid robotics, and cognition.Aleš Stanovnik, (Ph.D., University of Ljubljana, 1980) is a Professor Emeritus of Physics with the University of Ljubljana. His research chiefly focused on experimental nuclear and particle physics.  He is the author of a physics textbook and author or coauthor of more than 80 papers in scientific journals.Sebastjan Šlajpah (Ph.D., University of Ljubljana, 2015) is a Teaching Assistant for courses in the fields of robotics, robot control, and human-robot interaction. Hisresearch is focused on wearable sensors, haptics, collaborative robotics, and robot control.Jure Rejc (Ph.D., University of Ljubljana, 2008) is a researcher and Teaching Assistant for robotics and embedded systems. In addition, he works to develop robot-based applications and solutions for high-precision industrial measurements.Marko Munih (Ph.D., University of Ljubljana, 1993) is a Full Professor and Head of the Robolab at the University of Ljubljana. His research is focused on robots in interaction and haptic interfaces, as well as robots in construction and measurement work. He has authored or coauthored 120 peer-reviewed journal articles and 4 textbooks, and holds 5 patents.

• 1 Introduction.- 2 Homogenous transformation matrices.- 3 Geometric description of the robot mechanism.- 4 Orientation of robot gripper.- 5 Two-segment robot manipulator.- 6 Robot sensors.- 7 Trajectory planning.- 8 Robot control.- 9 Robot teaching.- 10 Parallel robots.- 11 Collaborative robots.- 12 Mobile robots.- 13 Humanoid robots.- 14 Robot workcells.

Matjaž Mihelj (Ph.D., University of Ljubljana, 2002) is a Full Professor at the University of Ljubljana. His research interests are in human-robot interaction, rehabilitation robotics, and wearable sensors. He has authored or coauthored over 40 journal publications and 9 monographs, and holds 3 patents. His contributions have been recognized with several national and international awards.Tadej Bajd (Ph.D., University of Ljubljana, 1979) is President of the Slovenian Academy of Sciences and Arts, a Professor Emeritus at the University of Ljubljana, and a Fellow of the IEEE, AIMBE, and EAMBES. He is a member of the European Academy of Sciences and Arts and Slovenian Academy of Engineering.  He is the author or coauthor of over 100 journal papers and several monographs.Jadran Lenarčič (Ph.D., University of Ljubljana, 1986) is currently Director of the J. Stefan Institute, Ljubljana. His basic research interests include robotics, robot kinematics, biorobotics and humanoid robotics. He has edited a series of books on Advances in Robot Kinematics, and is a member of both the Slovenian Academy of Engineering and Accademia delle scienze di Bologna.Aleš Ude (Ph.D., University of Karlsruhe, 1995) is Head of the Department of Automatics, Biocybernetics, and Robotics at J. Stefan Institute, Ljubljana, and an Associate Professor at the University of Ljubljana. His research interests include robot sensorimotor learning, robot vision, humanoid robotics, and cognition.Aleš Stanovnik, (Ph.D., University of Ljubljana, 1980) is a Professor Emeritus of Physics with the University of Ljubljana. His research chiefly focused on experimental nuclear and particle physics.  He is the author of a physics textbook and author or coauthor of more than 80 papers in scientific journals.Sebastjan Šlajpah (Ph.D., University of Ljubljana, 2015) is a Teaching Assistant for courses in the fields of robotics, robot control, and human-robot interaction. Hisresearch is focused on wearable sensors, haptics, collaborative robotics, and robot control.Jure Rejc (Ph.D., University of Ljubljana, 2008) is a researcher and Teaching Assistant for robotics and embedded systems. In addition, he works to develop robot-based applications and solutions for high-precision industrial measurements.Marko Munih (Ph.D., University of Ljubljana, 1993) is a Full Professor and Head of the Robolab at the University of Ljubljana. His research is focused on robots in interaction and haptic interfaces, as well as robots in construction and measurement work. He has authored or coauthored 120 peer-reviewed journal articles and 4 textbooks, and holds 5 patents.

• 1 Introduction.- 2 Homogenous transformation matrices.- 3 Geometric description of the robot mechanism.- 4 Orientation of robot gripper.- 5 Two-segment robot manipulator.- 6 Robot sensors.- 7 Trajectory planning.- 8 Robot control.- 9 Robot teaching.- 10 Parallel robots.- 11 Collaborative robots.- 12 Mobile robots.- 13 Humanoid robots.- 14 Robot workcells.

Matjaž Mihelj (Ph.D., University of Ljubljana, 2002) is a Full Professor at the University of Ljubljana. His research interests are in human-robot interaction, rehabilitation robotics, and wearable sensors. He has authored or coauthored over 40 journal publications and 9 monographs, and holds 3 patents. His contributions have been recognized with several national and international awards.Tadej Bajd (Ph.D., University of Ljubljana, 1979) is President of the Slovenian Academy of Sciences and Arts, a Professor Emeritus at the University of Ljubljana, and a Fellow of the IEEE, AIMBE, and EAMBES. He is a member of the European Academy of Sciences and Arts and Slovenian Academy of Engineering.  He is the author or coauthor of over 100 journal papers and several monographs.Jadran Lenarčič (Ph.D., University of Ljubljana, 1986) is currently Director of the J. Stefan Institute, Ljubljana. His basic research interests include robotics, robot kinematics, biorobotics and humanoid robotics. He has edited a series of books on Advances in Robot Kinematics, and is a member of both the Slovenian Academy of Engineering and Accademia delle scienze di Bologna.Aleš Ude (Ph.D., University of Karlsruhe, 1995) is Head of the Department of Automatics, Biocybernetics, and Robotics at J. Stefan Institute, Ljubljana, and an Associate Professor at the University of Ljubljana. His research interests include robot sensorimotor learning, robot vision, humanoid robotics, and cognition.Aleš Stanovnik, (Ph.D., University of Ljubljana, 1980) is a Professor Emeritus of Physics with the University of Ljubljana. His research chiefly focused on experimental nuclear and particle physics.  He is the author of a physics textbook and author or coauthor of more than 80 papers in scientific journals.Sebastjan Šlajpah (Ph.D., University of Ljubljana, 2015) is a Teaching Assistant for courses in the fields of robotics, robot control, and human-robot interaction. Hisresearch is focused on wearable sensors, haptics, collaborative robotics, and robot control.Jure Rejc (Ph.D., University of Ljubljana, 2008) is a researcher and Teaching Assistant for robotics and embedded systems. In addition, he works to develop robot-based applications and solutions for high-precision industrial measurements.Marko Munih (Ph.D., University of Ljubljana, 1993) is a Full Professor and Head of the Robolab at the University of Ljubljana. His research is focused on robots in interaction and haptic interfaces, as well as robots in construction and measurement work. He has authored or coauthored 120 peer-reviewed journal articles and 4 textbooks, and holds 5 patents.

• 1 Introduction.- 2 Homogenous transformation matrices.- 3 Geometric description of the robot mechanism.- 4 Orientation of robot gripper.- 5 Two-segment robot manipulator.- 6 Robot sensors.- 7 Trajectory planning.- 8 Robot control.- 9 Robot teaching.- 10 Parallel robots.- 11 Collaborative robots.- 12 Mobile robots.- 13 Humanoid robots.- 14 Robot workcells.