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Course11210728940 lectures

Robotics and Control : Theory and Practice

Prof. N. Sukavanam Prof. M. Felix Orlando · IIT Roorkee

Start with lecture 1 At NPTEL

Lectures

Unit 1

  1. Introduction Video
  2. Coordinate Frames and Homogeneous Transformations-I Video
  3. Coordinate Frames and Homogeneous Frames-II Video
  4. Differential Transformations Video
  5. Transforming Differential Changes between Coordinate Frames Video

Unit 2

  1. Kinematic Model for Robot Manipulator Video
  2. Direct Kinematics Video
  3. Inverse Kinematics Video
  4. Manipulator Jacobian Video
  5. Manipulator Jacobian Example Video

Unit 3

  1. Trajectory Planning Video
  2. Dynamics of Manipulator Video
  3. Dynamics of Manipulator (cont.) Video
  4. Manipulator Dynamics Multiple Degree of Freedom Video
  5. Stability of Dynamical System Video

Unit 4

  1. Manipulator Control Video
  2. Biped Robot Basics and Flat Foot Biped Model Video
  3. Biped Robot Flat Foot and Toe Foot Model Video
  4. Artificial Neural Network Video
  5. Neural Network based control for Robot Manipulator Video

Unit 5

  1. Redundancy Resolution of Human Fingers in Cooperative Object Translation-I Video
  2. Redundancy Resolution of Human Fingers in Cooperative Object Translation-II Video
  3. Fundamentals of Robot Manipulability Video
  4. Manipulability Analysis of Human Fingers in Cooperative Rotational Motion Video

Unit 6

  1. Robotic Exoskeletons: An Introduction Video
  2. Introduction to Robotic Hand Exoskeleton Video
  3. Design and Development of a Three Finger Exoskeleton Video
  4. Force Control of an Index Finger Exoskeleton Video
  5. Neural Control of a Hand Exoskeleton Video
  6. Neural Control of a Hand Exoskeleton Based on Human Subject's Intention Video

Unit 7

  1. Robot Assisted Percutaneous Interventions Video
  2. Experiments on Robot Assisted Percutaneous Interventions Video
  3. Sliding Mode Control Video
  4. Higher Order Sliding Mode Control Video
  5. Smart Needles for Percutaneous Interventions-I Video
  6. Smart Needles for Percutaneous Interventions-II Video

Unit 8

  1. Flexible Link Kinematics-I Video
  2. Flexible Link Kinematics-II Video
  3. Model Based Control of Robot Manipulators Video
  4. Simulation of Robot Manipulators Video

Syllabus and materials

At NPTEL, as the course publishes them.

Credits and licence

Institution
IIT Roorkee
Department
Mechanical Engineering
Teacher
Prof. N. Sukavanam Prof. M. Felix Orlando
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.
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