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Course11210829847 lectures

Robotics: Basics and Selected Advanced Concepts

Prof. Ashitava Ghosal · IISc Bangalore

Start with lecture 1 At NPTEL

Lectures

Week 1 Introduction to Robotics, Science & Technology

  1. Introduction, Types and Classification of Robots Video
  2. Main Elements of a Robot Video
  3. Modelling and Analysis of Robots Video

Week 2 Mathematical preliminaries, D-H convention & Examples

  1. Mathematical Preliminaries, Homogeneous Transformations Video
  2. Elements of robot – Joints, Elements of robots -- Links Video
  3. Examples of D-H parameters and Link transformation matrices Video

Week 3 Kinematics of Serial Robots

  1. Introduction, Direct Kinematics of Serial Robots Video
  2. Inverse Kinematics of Serial Robots Video
  3. Inverse Kinematics of Serial Robots with n 6 Video
  4. Elimination Theory & Solution of Non-linear Equations, Inverse Kinematics of a General 6R Robot Video

Week 4 Kinematics of Parallel Robots

  1. Introduction, Loop-closure Equations Video
  2. Direct Kinematics of Parallel Manipulators Video
  3. Mobility of Parallel Manipulators Video
  4. Inverse Kinematics of Parallel Manipulators Video
  5. Direct Kinematics of Stewart Platform Manipulators Video

Week 5 Applications of parallel robots

  1. Sun tracking using 3-DOF parallel manipulator Video
  2. Stewart-Gough platform-based force-torque sensor Video
  3. Vibration isolation using a Stewart-Gough platform Video

Week 6 Velocity and Static Analysis of Manipulators

  1. Introduction, Linear and Angular Velocity of Links Video
  2. Serial Manipulator Jacobian Matrix Video
  3. Parallel Manipulator Jacobian Matrix Video
  4. Singularities in Serial and Parallel Manipulators Video
  5. Statics of Serial and Parallel Manipulators Video

Week 7 Redundancy and resolution of redundancy, Human arm, and flexible robots

  1. Introduction, Lagrangian formulation Video
  2. Examples of Equations of Motion Video
  3. Inverse Dynamics & Simulation of Equations of Motion Video
  4. Recursive Formulations of Dynamics of Manipulators Video

Week 8 Dynamics of Serial and Parallel Robots

  1. Motion planning Video
  2. Control of a single link Video
  3. Control of a multi-link serial manipulator Video

Week 9 Motion Planning and Linear Control

  1. Control of a multi-link manipulator Video
  2. Control of constrained and parallel manipulator, Cartesian control of serial manipulators Video
  3. Force control of manipulators, Hybrid position/force control of manipulators Video
  4. Advanced topics in non-linear control of manipulators Video

Week 10 Nonlinear Control of Robots

  1. Wheeled Mobile Robots (WMR) on Flat Terrain Video
  2. Wheeled Mobile Robots (WMR) on Uneven Terrain Video
  3. Kinematics and Dynamics of WMR on Uneven Terrain Video

Week 11 Wheeled Mobile Robots

  1. Over-Constrained Mechanism and Deployable Structures Video
  2. Kinematic and Static Analysis Video

Live Session

  1. Live Session 23-03-2021 Video
  2. Live Session 15-02-2022 Video
  3. Live Session 22-03-2022 Video
  4. Live Session 01-03-2024 Video
  5. Live Session 17-04-2024 Video
  6. Live Session 17-02-2025 Video
  7. Live Session 14-03-2025 Video
  8. Live Session 08-04-2025 Video

Syllabus and materials

At NPTEL, as the course publishes them.

Credits and licence

Institution
IISc Bangalore
Department
Mechanical Engineering
Teacher
Prof. Ashitava Ghosal
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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