Robotics and Control : Theory and Practice
Indian Institute of Technology Roorkee and NPTEL via Swayam
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Overview
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 2Taught by
Prof. N. Sukavanam, Prof.M.Felix Orlando
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