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NPTEL

Introduction to Robotics

NPTEL and Indian Institute of Technology Madras via YouTube

Syllabus

Introduction - Introduction to Robotics.
Lecture 1.1 - Introduction.
Lecture - 1.2 - Evolution of Robotics.
Lecture - 2 .1 - Kinematics- Coordinate transformations.
Lecture - 2.2 - Homogeneus Transformation Matrix.
Lecture - 2.3 - Industrial Robot- Kinematic Structures.
Lecture - 2.4 - Robot Architectures.
Lecture - 2.5 - Kinematic Parameters.
Lecture - 2.6 - DH Algorithm.
Lecture - 2.7 - DH Algorithm.
Lecture - 2.8 - Forward Kinematics.
Lecture - 2.9 - Forward Kinematics- Examples.
Lecture - 2.10 -Inverse Kinematics.
Lecture - 2.11 - Inverse Kinematics- Examples.
Lecture - 2.12 - Differential Relations.
Lecture - 2.13 - Manipulator Jacobian and Statics.
Lecture - 3.1 Overview of Electric Actuators and Operational Needs.
Lecture 3.2 - Principles of DC Motor Operation.
Lecture 3.3 - DC Motor Equations and Principles of Control.
Lecture 4.1 - DC Motor Control Regions and Principles of Power Electronics.
Lecture 4.2 - Power Electronic Switching and Current Ripple.
Lecture 4.3 - The H-Bridge and DC Motor Control Structure.
Lecture 5.1 - The Brushless DC Machine.
Lecture 5.2 - Control of the Brushless DC Motor.
Lecture 5.3 - The PM Synchronous Motor (PMSM) and SPWM.
Lecture 6.1 - Principles of PMSM Control.
Lecture 6.2 - Encoders for Speed and Position Estimation.
Lecture 6.3 - Stepper Motors.
Lecture 7.1 - Introduction to Probabilistic Robotics..
Lecture 7.2 - Recursive State Estimation: Bayes Filter.
Lecture 7.3 - Recursive State Estimation: Bayes Filter Illustration..
Tutorial - 1 Probability Basics.
Tutorial - 2 Probability Basics.
Lecture 8.1 - Kalman Filter.
Lecture 8.2 - Extended Kalman Filter.
Lecture 8.3 - Particle Filter.
Lecture 8.4 - Binary Bayes.
Lecture - 9.1 Velocity Motion Model.
Lecture - 9.2 Odometry Motion Model.
Lecture - 9.3 Occupa Grid Mapping.
Lecture 9.4 - Range Finder Measurement Model.
Lecture 10.1 - Localization Taxonomy.
Lecture 10.2 - Markov Localization.
Lecture 10.3 - Path Planning.

Taught by

NPTEL-NOC IITM

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