# Robotics: Basics and Selected Advanced Concepts

- Institution: IISc Bangalore
- Department: Mechanical Engineering
- Teacher: Prof. Ashitava Ghosal
- Level: Undergraduate
- Language: English
- Subjects: Engineering
- Source: [NPTEL](https://nptel.ac.in/courses/112108298)
- Licence: [CC BY-NC-SA](https://nptel.ac.in/faq) (Non-commercial use only.)
- Syllabus: [at the source](https://nptel.ac.in/courses/112108298)
- Who can watch: Tweens profiles and older (sources give no ratings; placed by Invisible Network from the source's own words)

## Lectures

1. [Introduction, Types and Classification of Robots](https://invisiblenetwork.ai/learn/nptel/112108298/a26345025479) (Video)
2. [Main Elements of a Robot](https://invisiblenetwork.ai/learn/nptel/112108298/521ff6337100) (Video)
3. [Modelling and Analysis of Robots](https://invisiblenetwork.ai/learn/nptel/112108298/09a4ff2efd9e) (Video)
4. [Mathematical Preliminaries, Homogeneous Transformations](https://invisiblenetwork.ai/learn/nptel/112108298/2ba7d835403a) (Video)
5. [Elements of robot – Joints, Elements of robots -- Links](https://invisiblenetwork.ai/learn/nptel/112108298/b3aad4193a9c) (Video)
6. [Examples of D-H parameters and Link transformation matrices](https://invisiblenetwork.ai/learn/nptel/112108298/4a4bec0b37b0) (Video)
7. [Introduction, Direct Kinematics of Serial Robots](https://invisiblenetwork.ai/learn/nptel/112108298/f1422773dcf5) (Video)
8. [Inverse Kinematics of Serial Robots](https://invisiblenetwork.ai/learn/nptel/112108298/111739202fa3) (Video)
9. [Inverse Kinematics of Serial Robots with n 6](https://invisiblenetwork.ai/learn/nptel/112108298/3f70d86a03d5) (Video)
10. [Elimination Theory & Solution of Non-linear Equations, Inverse Kinematics of a General 6R Robot](https://invisiblenetwork.ai/learn/nptel/112108298/4f65c4fa7e57) (Video)
11. [Introduction, Loop-closure Equations](https://invisiblenetwork.ai/learn/nptel/112108298/9aea40184743) (Video)
12. [Direct Kinematics of Parallel Manipulators](https://invisiblenetwork.ai/learn/nptel/112108298/450bea8e9eaa) (Video)
13. [Mobility of Parallel Manipulators](https://invisiblenetwork.ai/learn/nptel/112108298/6d64b0c20cc9) (Video)
14. [Inverse Kinematics of Parallel Manipulators](https://invisiblenetwork.ai/learn/nptel/112108298/ce4333b4dbc2) (Video)
15. [Direct Kinematics of Stewart Platform Manipulators](https://invisiblenetwork.ai/learn/nptel/112108298/7443d5d3f8c4) (Video)
16. [Sun tracking using 3-DOF parallel manipulator](https://invisiblenetwork.ai/learn/nptel/112108298/9fb9aaeb429b) (Video)
17. [Stewart-Gough platform-based force-torque sensor](https://invisiblenetwork.ai/learn/nptel/112108298/4a07638be832) (Video)
18. [Vibration isolation using a Stewart-Gough platform](https://invisiblenetwork.ai/learn/nptel/112108298/85487f536cd2) (Video)
19. [Introduction, Linear and Angular Velocity of Links](https://invisiblenetwork.ai/learn/nptel/112108298/d792562e5e6a) (Video)
20. [Serial Manipulator Jacobian Matrix](https://invisiblenetwork.ai/learn/nptel/112108298/e7a3b9e82a87) (Video)
21. [Parallel Manipulator Jacobian Matrix](https://invisiblenetwork.ai/learn/nptel/112108298/1f5e93de0eff) (Video)
22. [Singularities in Serial and Parallel Manipulators](https://invisiblenetwork.ai/learn/nptel/112108298/157b8eeab088) (Video)
23. [Statics of Serial and Parallel Manipulators](https://invisiblenetwork.ai/learn/nptel/112108298/8b7bcf60887a) (Video)
24. [Introduction, Lagrangian formulation](https://invisiblenetwork.ai/learn/nptel/112108298/fb55a885aced) (Video)
25. [Examples of Equations of Motion](https://invisiblenetwork.ai/learn/nptel/112108298/4be934057e44) (Video)
26. [Inverse Dynamics & Simulation of Equations of Motion](https://invisiblenetwork.ai/learn/nptel/112108298/e1117777066c) (Video)
27. [Recursive Formulations of Dynamics of Manipulators](https://invisiblenetwork.ai/learn/nptel/112108298/b3062590c1ad) (Video)
28. [Motion planning](https://invisiblenetwork.ai/learn/nptel/112108298/444ebc59d13c) (Video)
29. [Control of a single link](https://invisiblenetwork.ai/learn/nptel/112108298/7524d446ae37) (Video)
30. [Control of a multi-link serial manipulator](https://invisiblenetwork.ai/learn/nptel/112108298/3c52765f2e81) (Video)
31. [Control of a multi-link manipulator](https://invisiblenetwork.ai/learn/nptel/112108298/9159565f4b0b) (Video)
32. [Control of constrained and parallel manipulator, Cartesian control of serial manipulators](https://invisiblenetwork.ai/learn/nptel/112108298/d25a7121b416) (Video)
33. [Force control of manipulators, Hybrid position/force control of manipulators](https://invisiblenetwork.ai/learn/nptel/112108298/fe8abf5d218a) (Video)
34. [Advanced topics in non-linear control of manipulators](https://invisiblenetwork.ai/learn/nptel/112108298/5e7384f41151) (Video)
35. [Wheeled Mobile Robots (WMR) on Flat Terrain](https://invisiblenetwork.ai/learn/nptel/112108298/8d67effabef5) (Video)
36. [Wheeled Mobile Robots (WMR) on Uneven Terrain](https://invisiblenetwork.ai/learn/nptel/112108298/c983190f1c6a) (Video)
37. [Kinematics and Dynamics of WMR on Uneven Terrain](https://invisiblenetwork.ai/learn/nptel/112108298/2bcc0f702e01) (Video)
38. [Over-Constrained Mechanism and Deployable Structures](https://invisiblenetwork.ai/learn/nptel/112108298/fcbd07b25da8) (Video)
39. [Kinematic and Static Analysis](https://invisiblenetwork.ai/learn/nptel/112108298/9f12e50d4b93) (Video)
40. [Live Session 23-03-2021](https://invisiblenetwork.ai/learn/nptel/112108298/a26345025479-2) (Video)
41. [Live Session 15-02-2022](https://invisiblenetwork.ai/learn/nptel/112108298/521ff6337100-2) (Video)
42. [Live Session 22-03-2022](https://invisiblenetwork.ai/learn/nptel/112108298/09a4ff2efd9e-2) (Video)
43. [Live Session 01-03-2024](https://invisiblenetwork.ai/learn/nptel/112108298/2ba7d835403a-2) (Video)
44. [Live Session 17-04-2024](https://invisiblenetwork.ai/learn/nptel/112108298/b3aad4193a9c-2) (Video)
45. [Live Session 17-02-2025](https://invisiblenetwork.ai/learn/nptel/112108298/4a4bec0b37b0-2) (Video)
46. [Live Session 14-03-2025](https://invisiblenetwork.ai/learn/nptel/112108298/f1422773dcf5-2) (Video)
47. [Live Session 08-04-2025](https://invisiblenetwork.ai/learn/nptel/112108298/111739202fa3-2) (Video)