NOC:Mechanics and Control of Robotic Manipulators

Media Storage Type : 32 GB USB Stick

NPTEL Subject Matter Expert : Prof. Santhakumar Mohan

NPTEL Co-ordinating Institute : IIT Palakkad

NPTEL Lecture Count : 45

NPTEL Course Size : 4.3 GB

NPTEL PDF Text Transcription : Available and Included

NPTEL Subtitle Transcription : Available and Included (SRT)

Lecture Titles:

Lecture 1 - Introduction
Lecture 2 - Introduction to robot mechanics
Lecture 3 - Introduction to forward and inverse kinematics
Lecture 4 - Description of position and orientation
Lecture 5 - Transformation matrix
Lecture 6 - Compound rotations - Part 1
Lecture 7 - Compound rotations - Part 2
Lecture 8 - Kinematic parameters
Lecture 9 - DH parameters
Lecture 10 - DH representation
Lecture 11 - Frame arrangement and examples - Part 1
Lecture 12 - Examples related to frame arrangement
Lecture 13 - Frame arrangement and examples - Part 2
Lecture 14 - Forward and inverse kinematics of robotic manipulators
Lecture 15 - Examples related to inverse kinematics
Lecture 16 - Inverse kinematic solution based on numerical methods
Lecture 17 - Forward kinematic solution using Matlab
Lecture 18 - Inverse kinematic solution based on numerical methods using Matlab
Lecture 19 - Introduction to differential kinematics
Lecture 20 - Velocity propogation model for serial manipulators and Jacobian matrix
Lecture 21 - Velocity propogation model using Matlab
Lecture 22 - Manipulator Statics and Workspace singularities
Lecture 23 - Introduction to robot dynamics and Lagrange-Euler method
Lecture 24 - Newton-Euler method
Lecture 25 - Equation of motion in state-space form
Lecture 26 - Dynamic model derivation using Newton-Euler method in Matlab
Lecture 27 - Dynamic model derivation using Lagrange-Euler method in Matlab
Lecture 28 - Dynamic simulation of serial manipulators using Matlab
Lecture 29 - Introduction to trajectory generation
Lecture 30 - Trajectory generation using smooth functions
Lecture 31 - Trajectory generation schemes for serial manipulators
Lecture 32 - Trajectory generation using Matlab - Part 1
Lecture 33 - Trajectory generation using Matlab - Part 2
Lecture 34 - Trajectory generation for serial manipulators using matlab
Lecture 35 - Trajectory generation for serial manipulators with workspace using matlab
Lecture 36 - Introduction to robot motion control
Lecture 37 - Types of robot manipulator control and concerns
Lecture 38 - Kinematic control
Lecture 39 - Matlab simulation on kinematic control
Lecture 40 - Dynamic control
Lecture 41 - Simulations related to dynamic control schemes using Matlab - Part 1
Lecture 42 - Cascaded control design
Lecture 43 - Simulations related to dynamic control schemes using Matlab - Part 2
Lecture 44 - Simulations related to dynamic control schemes using Matlab - Part 3
Lecture 45 - Kinematic and dynamic models of a mobile robot using DH approach