# Mechanics and Control of Robotic Manipulators

- Institution: IIT Palakkad
- Department: Mechanical Engineering
- Teacher: Prof. Santhakumar Mohan
- Level: Undergraduate
- Language: English
- Subjects: Engineering
- Source: [NPTEL](https://nptel.ac.in/courses/112106304)
- Licence: [CC BY-NC-SA](https://nptel.ac.in/faq) (Non-commercial use only.)
- Syllabus: [at the source](https://nptel.ac.in/courses/112106304)
- Who can watch: Tweens profiles and older (sources give no ratings; placed by Invisible Network from the source's own words)

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

1. [Introduction](https://invisiblenetwork.ai/learn/nptel/112106304/0181faf19329) (YouTube)
2. [Introduction to robot mechanics](https://invisiblenetwork.ai/learn/nptel/112106304/fc4ed03c7019) (YouTube)
3. [Introduction to forward and inverse kinematics](https://invisiblenetwork.ai/learn/nptel/112106304/91c455b9965e) (YouTube)
4. [Description of position and orientation](https://invisiblenetwork.ai/learn/nptel/112106304/702cc3322260) (YouTube)
5. [Transformation matrix](https://invisiblenetwork.ai/learn/nptel/112106304/81322ed0da53) (YouTube)
6. [Compound rotations part 1](https://invisiblenetwork.ai/learn/nptel/112106304/1dc5fbd8cc91) (YouTube)
7. [Compound rotations part 2](https://invisiblenetwork.ai/learn/nptel/112106304/c029ad9f5f27) (YouTube)
8. [Kinematic parameters](https://invisiblenetwork.ai/learn/nptel/112106304/da9c4c541089) (YouTube)
9. [DH parameters](https://invisiblenetwork.ai/learn/nptel/112106304/61dd36ce9799) (YouTube)
10. [DH representation](https://invisiblenetwork.ai/learn/nptel/112106304/4c1b9be62249) (YouTube)
11. [Frame arrangement and examples part 1](https://invisiblenetwork.ai/learn/nptel/112106304/39ef0c2ba007) (YouTube)
12. [Examples related to frame arrangement](https://invisiblenetwork.ai/learn/nptel/112106304/04f98987ec9a) (YouTube)
13. [Frame arrangement and examples part 2](https://invisiblenetwork.ai/learn/nptel/112106304/02377a40c348) (YouTube)
14. [Forward and inverse kinematics of robotic manipulators](https://invisiblenetwork.ai/learn/nptel/112106304/7cd94db723a3) (YouTube)
15. [Examples related to inverse kinematics](https://invisiblenetwork.ai/learn/nptel/112106304/2b17804fbe08) (YouTube)
16. [Inverse kinematic solution based on numerical methods](https://invisiblenetwork.ai/learn/nptel/112106304/01998918e6b3) (YouTube)
17. [Forward kinematic solution using Matlab](https://invisiblenetwork.ai/learn/nptel/112106304/2ddd0e88ce74) (YouTube)
18. [Inverse kinematic solution based on numerical methods using Matlab](https://invisiblenetwork.ai/learn/nptel/112106304/ac938a85fb43) (YouTube)
19. [Introduction to differential kinematics](https://invisiblenetwork.ai/learn/nptel/112106304/792e92f5f34e) (YouTube)
20. [Velocity propogation model for serial manipulators and Jacobian matrix](https://invisiblenetwork.ai/learn/nptel/112106304/405ccb5bcc6e) (YouTube)
21. [Velocity propogation model using Matlab](https://invisiblenetwork.ai/learn/nptel/112106304/152d30fbe287) (YouTube)
22. [Manipulator Statics and Workspace singularities](https://invisiblenetwork.ai/learn/nptel/112106304/76a5e6e375a8) (YouTube)
23. [Introduction to robot dynamics and Lagrange-Euler method](https://invisiblenetwork.ai/learn/nptel/112106304/60eefa7f404e) (YouTube)
24. [Newton-Euler method](https://invisiblenetwork.ai/learn/nptel/112106304/3a908f687840) (YouTube)
25. [Equation of motion in state-space form](https://invisiblenetwork.ai/learn/nptel/112106304/d0ad80e5fcfb) (YouTube)
26. [Dynamic model derivation using Newton-Euler method in Matlab](https://invisiblenetwork.ai/learn/nptel/112106304/5796c7b3f987) (YouTube)
27. [Dynamic model derivation using Lagrange-Euler method in Matlab](https://invisiblenetwork.ai/learn/nptel/112106304/b210d543e1d7) (YouTube)
28. [Dynamic simulation of serial manipulators using Matlab](https://invisiblenetwork.ai/learn/nptel/112106304/07f8d06255a6) (YouTube)
29. [Introduction to trajectory generation](https://invisiblenetwork.ai/learn/nptel/112106304/285435d5092a) (YouTube)
30. [Trajectory generation using smooth functions](https://invisiblenetwork.ai/learn/nptel/112106304/c5f61df66fc9) (YouTube)
31. [Trajectory generation schemes for serial manipulators](https://invisiblenetwork.ai/learn/nptel/112106304/141cb5ff43ac) (YouTube)
32. [Trajectory generation using Matlab part 1](https://invisiblenetwork.ai/learn/nptel/112106304/e035b521058d) (YouTube)
33. [Trajectory generation using Matlab part 2](https://invisiblenetwork.ai/learn/nptel/112106304/c7fb41f1b4b2) (YouTube)
34. [Trajectory generation for serial manipulators using matlab](https://invisiblenetwork.ai/learn/nptel/112106304/6bb5ff95e6df) (YouTube)
35. [Trajectory generation for serial manipulators with workspace using matlab](https://invisiblenetwork.ai/learn/nptel/112106304/6265f77b69d6) (YouTube)
36. [Introduction to robot motion control](https://invisiblenetwork.ai/learn/nptel/112106304/08570582fc35) (YouTube)
37. [Types of robot manipulator control and concerns](https://invisiblenetwork.ai/learn/nptel/112106304/9bf1e95ed57d) (YouTube)
38. [Kinematic control](https://invisiblenetwork.ai/learn/nptel/112106304/1c44026b8800) (YouTube)
39. [Matlab simulation on kinematic control](https://invisiblenetwork.ai/learn/nptel/112106304/f1f0b8b2be7b) (YouTube)
40. [Dynamic control](https://invisiblenetwork.ai/learn/nptel/112106304/6ce9ea68da43) (YouTube)
41. [Simulations related to dynamic control schemes using Matlab part 1](https://invisiblenetwork.ai/learn/nptel/112106304/64b85ec16237) (YouTube)
42. [Cascaded control design](https://invisiblenetwork.ai/learn/nptel/112106304/b5c533c3620b) (YouTube)
43. [Simulations related to dynamic control schemes using Matlab part 2](https://invisiblenetwork.ai/learn/nptel/112106304/34f59258bf99) (YouTube)
44. [Simulations related to dynamic control schemes using Matlab part 3](https://invisiblenetwork.ai/learn/nptel/112106304/45ce8982e17f) (YouTube)
45. [Kinematic and dynamic models of a mobile robot using DH approach](https://invisiblenetwork.ai/learn/nptel/112106304/f73c09f4f734) (YouTube)