NPTEL - Robotics and Control: Theory and Practice
offered by IIT Roorkee

Public/Government Institute
Estd. 1847

Robotics and Control: Theory and Practice
at
IIT Roorkee
Overview

Boost your career by mastering concepts to Simple manipulators, Danavit-Hartimber Algorithm

Duration	8 weeks
Mode of learning	Online
Credential	Certificate

Robotics and Control: Theory and Practice
at
IIT Roorkee
Highlights

Earn a E- certificate of completion from IIT Roorkee

Robotics and Control: Theory and Practice
at
IIT Roorkee
Course details

Who should do this course?

For Electrical Engineering, Computer Science Department, Mechanical Engineering, Electronics and Communication Engineering, Mathematics Department

More about this course

Robotics has stimulated an growing interest among a wide range of scholars, researchers and students due to its interdisciplinary characteristics
The development of this field of science is boosted by various domains which are not limited to Cybernetics, Controls, Computers, Mechanics, Bio-Engineering, and Electronics
Among these areas, modelling, control, planning play a fundamental role not only in the growth of industrial robotics, but also towards the advanced fields including healthcare and field robotics
Through this course the participants will acquire the ability to conduct research, develop innovative designs in the field of systems engineering and control of robots and to direct the development of engineering solutions in new or unfamiliar environments by linking creativity, innovation and transfer of technology

Robotics and Control: Theory and Practice
at
IIT Roorkee
Curriculum

Week 1

Simple manipulators: Two /three arm manipulators and their kinematics equations

Work space Homogeneous

Transformation: Rotation, Translation, Composition of homogeneous transformations

Week 2

Danavit-Hartimber Algorithm: D-H procedure for fixing joint coordinate frames

Robot parameters

Arm matrix

Inverse Kinematics for PUMA

SCARA manipulators

Week 3

Introduction to Robotic Exoskeletons

Optimal Design of a Three Finger Exoskeleton for Rehabilitation Purpose

Week 4

Differential transformation and velocity of a frame: Derivative of a frame

Velocity

Jacobian

Inverse Jacobian

Trajectory Planning: Polynomial trajectory, Biped trajectory

Week 5

Dynamics: Lagrangian method

Robot dynamics equation

Control: Robot dynamics equation as a control system

Trajectory tracking control

PD controller

Neural network control design

Week 6

Redundancy Resolution of Human Fingers using Robotic Principles

Manipulability Analysis of Human Fingers

During Coordinated Object Rotation

Kinematics of Flexible Link Robots

Week 7

Robot Assisted Needling System for Percutaneous Intervention-An Introduction

Smart Robotic Needles for Percutaneous Cancerous Interventions

Week 8

Robust Force Control of a Two Finger Exoskeleton during Grasping

Neural Control of an Index Finger Exoskeleton ? Lecture 1

Neural Control of an Index Finger Exoskeleton ? Lecture 2

Robotics and Control: Theory and Practice
at
IIT Roorkee
Faculty details

Prof. N. Sukavanam

He received his Ph. D from the Indian Institute of Science, Bangalore in 1985. He served as a Scientist-B at Naval Science and Technological Laboratory, DRDO for two years (1984-86). Then joined as a Research Scientist in the Department of Mathematics, IIT Bombay (1987-90).

Prof.M.Felix Orlando

Dr. M. Felix Orlando received his Ph.D. from Electrical Engineering Department at Indian Institute of Technology Kanpur (IITK) in 2013, where his advisors were Prof. Laxmidhar Behera, Prof. Ashish Dutta, Prof. Anupam Saxena.