NOC:Robotics: Basics and Selected Advanced Concepts

Media Storage Type : 32 GB USB Stick

NPTEL Subject Matter Expert : Prof. Ashitava Ghosal

NPTEL Co-ordinating Institute : IISc Bangalore

NPTEL Lecture Count : 42

NPTEL Course Size : 3.7 GB

NPTEL PDF Text Transcription : Available and Included

NPTEL Subtitle Transcription : Available and Included (SRT)

Lecture Titles:

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