Learn · Robotics: Basics and Selected Advanced Concepts

Lecture 8 of 47Week 3 Kinematics of Serial Robots

Inverse Kinematics of Serial Robots

Prof. Ashitava Ghosal · IISc Bangalore

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Robotics: Basics and Selected Advanced Concepts, IISc Bangalore (at NPTEL)
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CC BY-NC-SA, as NPTEL states it. Non-commercial use only.
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All the lectures

  1. Introduction, Types and Classification of Robots Video
  2. Main Elements of a Robot Video
  3. Modelling and Analysis of Robots Video
  4. Mathematical Preliminaries, Homogeneous Transformations Video
  5. Elements of robot – Joints, Elements of robots -- Links Video
  6. Examples of D-H parameters and Link transformation matrices Video
  7. Introduction, Direct Kinematics of Serial Robots Video
  8. Inverse Kinematics of Serial Robots Video
  9. Inverse Kinematics of Serial Robots with n 6 Video
  10. Elimination Theory & Solution of Non-linear Equations, Inverse Kinematics of a General 6R Robot Video
  11. Introduction, Loop-closure Equations Video
  12. Direct Kinematics of Parallel Manipulators Video
  13. Mobility of Parallel Manipulators Video
  14. Inverse Kinematics of Parallel Manipulators Video
  15. Direct Kinematics of Stewart Platform Manipulators Video
  16. Sun tracking using 3-DOF parallel manipulator Video
  17. Stewart-Gough platform-based force-torque sensor Video
  18. Vibration isolation using a Stewart-Gough platform Video
  19. Introduction, Linear and Angular Velocity of Links Video
  20. Serial Manipulator Jacobian Matrix Video
  21. Parallel Manipulator Jacobian Matrix Video
  22. Singularities in Serial and Parallel Manipulators Video
  23. Statics of Serial and Parallel Manipulators Video
  24. Introduction, Lagrangian formulation Video
  25. Examples of Equations of Motion Video
  26. Inverse Dynamics & Simulation of Equations of Motion Video
  27. Recursive Formulations of Dynamics of Manipulators Video
  28. Motion planning Video
  29. Control of a single link Video
  30. Control of a multi-link serial manipulator Video
  31. Control of a multi-link manipulator Video
  32. Control of constrained and parallel manipulator, Cartesian control of serial manipulators Video
  33. Force control of manipulators, Hybrid position/force control of manipulators Video
  34. Advanced topics in non-linear control of manipulators Video
  35. Wheeled Mobile Robots (WMR) on Flat Terrain Video
  36. Wheeled Mobile Robots (WMR) on Uneven Terrain Video
  37. Kinematics and Dynamics of WMR on Uneven Terrain Video
  38. Over-Constrained Mechanism and Deployable Structures Video
  39. Kinematic and Static Analysis Video
  40. Live Session 23-03-2021 Video
  41. Live Session 15-02-2022 Video
  42. Live Session 22-03-2022 Video
  43. Live Session 01-03-2024 Video
  44. Live Session 17-04-2024 Video
  45. Live Session 17-02-2025 Video
  46. Live Session 14-03-2025 Video
  47. Live Session 08-04-2025 Video