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Course10710609043 lectures

Introduction To Robotics

Prof. Asokan T Prof. Balaraman Ravindran Prof. Krishna Vasudevan · IIT Madras

Start with lecture 1 At NPTEL

Lectures

Week 1

  1. Introduction Video
  2. Evolution of Robotics Video
  3. Kinematics- Coordinate transformations Video
  4. Homogeneus Transformation Matrix Video

Week 2

  1. Industrial Robot- Kinematic Structures Video
  2. Robot Architectures Video
  3. Kinematic Parameters Video
  4. DH Algorithm Video

Week 3

  1. DH Algorithm- Examples Video
  2. Forward Kinematics Video
  3. Forward Kinematics- Examples Video
  4. Inverse Kinematics Video

Week 4

  1. Inverse Kinematics- Examples Video
  2. Differential Relations Video
  3. Manipulator Jacobian and Statics Video

Week 5

  1. Overview of Electric Actuators and Operational Needs Video
  2. Principles of DC Motor Operation Video
  3. DC Motor Equations and Principles of Control Video

Week 6

  1. DC Motor Control Regions and Principles of Power Electronics Video
  2. Power Electronic Switching and Current Ripple Video
  3. The H-Bridge and DC Motor Control Structure Video

Week 7

  1. The Brushless DC Machine Video
  2. Control of the Brushless DC Motor Video
  3. The PM Synchronous Motor (PMSM) and SPWM Video

Week 8

  1. Principles of PMSM Control Video
  2. Encoders for Speed and Position Estimation Video
  3. Stepper Motors Video

Week 9

  1. Introduction to Probabilistic Robotics. Video
  2. Recursive State Estimation: Bayes Filter Video
  3. Recursive State Estimation: Bayes Filter Illustration. Video
  4. Probability basics Video
  5. Probability basics Video

Week 10

  1. Kalman Filter Video
  2. Extended Kalman Filter Video
  3. Particle Filter Video
  4. Binary Bayes Video

Week 11

  1. Velocity Motion Model Video
  2. Odometry Motion Model Video
  3. Occupa Grid Mapping Video
  4. Range Finder Measurement Model Video

Week 12

  1. Localization Taxonomy Video
  2. Markov Localization Video
  3. Path Planning Video

Syllabus and materials

At NPTEL, as the course publishes them.

Credits and licence

Institution
IIT Madras
Department
Engineering Design
Teacher
Prof. Asokan T Prof. Balaraman Ravindran Prof. Krishna Vasudevan
Level
Undergraduate
Language
English
Subjects
Engineering, Art, architecture and design
Source
NPTEL
Licence
CC BY-NC-SA, as NPTEL states it. Non-commercial use only. NPTEL's terms
Attribution
NPTEL states: "Distributed under Creative Commons Attribution-ShareAlike / CC BY - NC - SA", beside a BY-NC-SA badge.
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