NPTEL : NOC:Robotics and Control: Theory and Practice (Mechanical Engineering)

Co-ordinators : Prof. N. Sukavanam, Prof. M. Felix Orlando


Lecture 1 - Introduction

Lecture 2 - Coordinate Frames and Homogeneous Transformations - I

Lecture 3 - Coordinate Frames and Homogeneous Frames - II

Lecture 4 - Differential Transformations

Lecture 5 - Transforming Differential Changes between Coordinate Frames

Lecture 6 - Kinematic Model for Robot Manipulator

Lecture 7 - Direct Kinematics

Lecture 8 - Inverse Kinematics

Lecture 9 - Manipulator Jacobian

Lecture 10 - Manipulator Jacobian Example

Lecture 11 - Trajectory Planning

Lecture 12 - Dynamics of Manipulator

Lecture 13 - Dynamics of Manipulator (Continued...)

Lecture 14 - Manipulator Dynamics Multiple Degree of Freedom

Lecture 15 - Stability of Dynamical System

Lecture 16 - Manipulator Control

Lecture 17 - Biped Robot Basics and Flat Foot Biped Model

Lecture 18 - Biped Robot Flat Foot and Toe Foot Model

Lecture 19 - Artificial Neural Network

Lecture 20 - Neural Network based control for Robot Manipulator

Lecture 21 - Redundancy Resolution of Human Fingers in Cooperative Object Translation - I

Lecture 22 - Redundancy Resolution of Human Fingers in Cooperative Object Translation - II

Lecture 23 - Fundamentals of Robot Manipulability

Lecture 24 - Manipulability Analysis of Human Fingers in Cooperative Rotational Motion

Lecture 25 - Robotic Exoskeletons: An Introduction

Lecture 26 - Introduction to Robotic Hand Exoskeleton

Lecture 27 - Design and Development of a Three Finger Exoskeleton

Lecture 28 - Force Control of an Index Finger Exoskeleton

Lecture 29 - Neural Control of a Hand Exoskeleton

Lecture 30 - Neural Control of a Hand Exoskeleton Based on Human Subject’s Intention

Lecture 31 - Robot Assisted Percutaneous Interventions

Lecture 32 - Experiments on Robot Assisted Percutaneous Interventions

Lecture 33 - Sliding Mode Control

Lecture 34 - Higher Order Sliding Mode Control

Lecture 35 - Smart Needles for Percutaneous Interventions - I

Lecture 36 - Smart Needles for Percutaneous Interventions - II

Lecture 37 - Flexible Link Kinematics - I

Lecture 38 - Flexible Link Kinematics - II

Lecture 39 - Model Based Control of Robot Manipulators

Lecture 40 - Simulation of Robot Manipulators