Mechanics and Control of Robotic Manipulators

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Offered byNPTEL

Mechanics and Control of Robotic Manipulators
at
NPTEL
Overview

Duration	8 weeks
Mode of learning	Online
Credential	Certificate

Mechanics and Control of Robotic Manipulators
at
NPTEL
Course details

Skills you will learn

Simulation

Who should do this course?

For undergraduate/graduate students interested in robotics and manipulators

More about this course

Learn algorithmic approaches, mathematical models, and computational and motion control methods applicable to robotic manipulator systems
Recognize and analyze the basic mechanical and electrical systems concerning robots
Analyze and design the basic robotic systems
Implement and investigate the performance of various control techniques to the robotic manipulators

Mechanics and Control of Robotic Manipulators
at
NPTEL
Curriculum

Week 1:

Introduction: Effector: locomotion, and manipulation. Serial and parallel manipulators. Descriptions, Transformations and homogeneous transformation matrix.

Week 2:

Manipulator (serial manipulator) kinematics: Kinematic parameters, different notations, Denavit-Hartenberg (DH) representation, arm matrix. Forward and inverse kinematics. Analytical and numerical solutions. Examples

Week 3:

Differential kinematics: Differential (velocity) kinematics, velocity propagation, forward differential kinematics and inverse differential kinematics.

Week 4:

Jacobian matrix and Manipulator statics: Mapping between configuration-space to operational-space. Jacobian matrix and Pseudo inverse concepts. Introduction to workspace singularities.Manipulator statics: Conservation of energy or power, the mapping between operation-space to configuration-space inputs. Examples

Week 5:

Manipulator dynamics: Motion dynamics: Forward and inverse dynamics. Lagrangian (Lagrange-Euler) and Newton-Euler formulations. Examples

Week 6:

Dynamic simulation: Dynamic modeling of robotic manipulators and computer-based numerical simulations

Week 7:

Trajectory generation: Path and Trajectory. Configuration (joint) space trajectory and operational (task) space trajectory generations.

Week 8:

Control of robotic manipulators: Joint space and task-space control schemes.