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Course11210630445 lectures

Mechanics and Control of Robotic Manipulators

Prof. Santhakumar Mohan · IIT Palakkad

Start with lecture 1 At NPTEL

About

Upon completion of the course, the students should able to:

• 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

INTENDED AUDIENCE :Undergraduate/graduate students interested in robotics and manipulators

INDUSTRY SUPPORT : Most of the robotic and service oriented industries will recognize and give a value to this course

Lectures

Week 1

  1. Introduction YouTube
  2. Introduction to robot mechanics YouTube
  3. Introduction to forward and inverse kinematics YouTube
  4. Description of position and orientation YouTube
  5. Transformation matrix YouTube
  6. Compound rotations part 1 YouTube
  7. Compound rotations part 2 YouTube

Week 2

  1. Kinematic parameters YouTube
  2. DH parameters YouTube
  3. DH representation YouTube
  4. Frame arrangement and examples part 1 YouTube
  5. Examples related to frame arrangement YouTube
  6. Frame arrangement and examples part 2 YouTube

Week 3

  1. Forward and inverse kinematics of robotic manipulators YouTube
  2. Examples related to inverse kinematics YouTube
  3. Inverse kinematic solution based on numerical methods YouTube
  4. Forward kinematic solution using Matlab YouTube
  5. Inverse kinematic solution based on numerical methods using Matlab YouTube

Week 4

  1. Introduction to differential kinematics YouTube
  2. Velocity propogation model for serial manipulators and Jacobian matrix YouTube
  3. Velocity propogation model using Matlab YouTube
  4. Manipulator Statics and Workspace singularities YouTube
  5. Introduction to robot dynamics and Lagrange-Euler method YouTube
  6. Newton-Euler method YouTube

Week 5

  1. Equation of motion in state-space form YouTube
  2. Dynamic model derivation using Newton-Euler method in Matlab YouTube
  3. Dynamic model derivation using Lagrange-Euler method in Matlab YouTube
  4. Dynamic simulation of serial manipulators using Matlab YouTube
  5. Introduction to trajectory generation YouTube
  6. Trajectory generation using smooth functions YouTube

Week 6

  1. Trajectory generation schemes for serial manipulators YouTube
  2. Trajectory generation using Matlab part 1 YouTube
  3. Trajectory generation using Matlab part 2 YouTube
  4. Trajectory generation for serial manipulators using matlab YouTube
  5. Trajectory generation for serial manipulators with workspace using matlab YouTube

Week 7

  1. Introduction to robot motion control YouTube
  2. Types of robot manipulator control and concerns YouTube
  3. Kinematic control YouTube
  4. Matlab simulation on kinematic control YouTube
  5. Dynamic control YouTube

Week 8

  1. Simulations related to dynamic control schemes using Matlab part 1 YouTube
  2. Cascaded control design YouTube
  3. Simulations related to dynamic control schemes using Matlab part 2 YouTube
  4. Simulations related to dynamic control schemes using Matlab part 3 YouTube
  5. Kinematic and dynamic models of a mobile robot using DH approach YouTube

Syllabus and materials

At NPTEL, as the course publishes them.

Credits and licence

Institution
IIT Palakkad
Department
Mechanical Engineering
Teacher
Prof. Santhakumar Mohan
Level
Undergraduate
Language
English
Subjects
Engineering
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. Coordinated by IIT Madras.
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