  This is a follow-up tutorial article of our previous article entitled "Robot
Basics: Representation, Rotation and Velocity". For better understanding of the
topics covered in this articles, we recommend the readers to first read our
previous tutorial article on robot basics. Specifically, in this article, we
will cover some more advanced topics on robot kinematics, including robot
motion, forward kinematics, inverse kinematics, and robot dynamics. For the
topics, terminologies and notations introduced in the previous article, we will
use them directly without re-introducing them again in this article. Also
similar to the previous article, math and formulas will also be heavily used in
this article as well (hope the readers are well prepared for the upcoming math
bomb). After reading this article, readers should be able to have a deeper
understanding about how robot motion, kinematics and dynamics. As to some more
advanced topics about robot control, we will introduce them in the following
tutorial articles for readers instead.
