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Indian Institute of Technology Roorkee

Robotics and Control : Theory and Practice

Indian Institute of Technology Roorkee and NPTEL via Swayam

Overview

Robotics has stimulated an growing interest among a wide range of scholars, researchers and students due to its interdisciplinary characteristics. The development of this field of science is boosted by various domains which are not limited to Cybernetics, Controls, Computers, Mechanics, Bio-Engineering, and Electronics. Among these areas, modelling, control, planning play a fundamental role not only in the growth of industrial robotics, but also towards the advanced fields including healthcare and field robotics.Through this course the participants will acquire the ability to conduct research, develop innovative designs in the field of systems engineering and control of robots and to direct the development of engineering solutions in new or unfamiliar environments by linking creativity, innovation and transfer of technology.

INTENDED AUDIENCE : Electrical Engineering, Computer Science Department, Mechanical Engineering,
Electronics and Communication Engineering, Mathematics Department.PREREQUISITES : Basic MathematicsINDUSTRY SUPPORT :Nil

Syllabus

COURSE LAYOUT

Week 1 : Simple manipulators: Two /three arm manipulators and their kinematics equations, Work space Homogeneous Transformation: Rotation, Translation, Composition of homogeneous transformationsWeek 2 : Danavit-Hartimber Algorithm: D-H procedure for fixing joint coordinate frames, Robot parameters, Arm matrix, Inverse Kinematics for PUMA, SCARA manipulators.Week 3 : Introduction to Robotic Exoskeletons,Optimal Design of a Three Finger Exoskeleton for Rehabilitation PurposeWeek 4 : Differential transformation and velocity of a frame: Derivative of a frame, Velocity, Jacobian, Inverse Jacobian, Trajectory Planning: Polynomial trajectory, Biped trajectoryWeek 5 : Dynamics: Lagrangian method, Robot dynamics equation,Control: Robot dynamics equation as a control system, Trajectory tracking control, PD controller, Neural network control designWeek 6 : Redundancy Resolution of Human Fingers using Robotic Principles,Manipulability Analysis of Human Fingers during Coordinated Object Rotation,Kinematics of Flexible Link Robots,Week 7 : Robot Assisted Needling System for Percutaneous Intervention-An Introduction,Smart Robotic Needles for Percutaneous Cancerous InterventionsWeek 8 : Robust Force Control of a Two Finger Exoskeleton during Grasping ,Neural Control of an Index Finger Exoskeleton – Lecture 1,Neural Control of an Index Finger Exoskeleton – Lecture 2

Taught by

Prof. N. Sukavanam, Prof.M.Felix Orlando

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