Good point, probably we should describe them in more detail. For the second point ("elements of linear algebra .. ") we are going to need to use matrices to re

Good point, probably we should describe them in more detail. For the second point ("elements of linear algebra .. ") we are going to need to use matrices to represent coordinate systems. For the third point ("elements of kinematics, dynamics") we are going to write down the equation of motions of the robot with time derivatives (ODEs). If you have never heard of these things you might want to read up on them first.