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NPTEL

Robotics

NPTEL and Indian Institute of Technology, Kharagpur via YouTube

Overview

COURSE OUTLINE: The course will start with a brief introduction to robots and robotics. The motivation behind keeping robots in modern industries will be discussed. After providing a brief history of robotics, different components of a robotic system will be identified. The method of determining degrees of freedom of a robotic system will be discussed with some examples. After classifying the robots based on certain criteria, workspace analysis of manipulators will be carried out. Applications of robots in different areas like in manufacturing units, medical science, space, and others, will be discussed. Various methods of robot teaching will be explained with some suitable examples. Economic analysis will be conducted to decide whether we should purchase a robot. Both forward and inverse kinematics problems will be solved with the help of some suitable examples. To ensure smooth variation of joint angles of the robot, trajectory planning schemes will be explained. After carrying out velocity analysis with the help of Jacobian matrix, inverse dynamics problems of robots will be solved using Lagrange-Euler formulation. Control scheme used in robots to realize the joint torques will be discussed. Besides manipulators, analysis will be carried out on wheeled and multi-legged robots. The working principles of various sensors used in robots will be explained in detail. The steps to be followed in robot vision will be discussed with some suitable examples. The principles of motion planning algorithms will be explained in detail. Thus, this course will deal with all the issues related to kinematics, dynamics, control schemes and robot intelligence.

Syllabus

Robotics by Prof D K Pratihar.
Lecture 01: Introduction to Robots and Robotics.
Lecture 02: Introduction to Robots and Robotics (Contd.).
Lecture 03: Introduction to Robots and Robotics (Contd.).
Lecture 04: Introduction to Robots and Robotics (Contd.).
Lecture 05: Introduction to Robots and Robotics (Contd.).
Lecture 06: Introduction to Robots and Robotics (Contd.).
Lecture 07: Introduction to Robots and Robotics (Contd.).
Lecture 08: Introduction to Robots and Robotics (Contd.).
Lecture 09: Introduction to Robots and Robotics (Contd.).
Lecture 10: Introduction to Robots and Robotics (Contd.).
Lecture 11: Robots Kinematics.
Lecture 12: Robots Kinematics.
Lecture 13: Robot Kinematics (Contd.).
Lecture 14: Robot Kinematics (Contd.).
Lecture 15: Robot Kinematics (Contd.).
Lecture 16: Robot Kinematics (Contd.).
Lecture 17: Robot Kinematics (Contd.).
Lecture 18: Robots kinematics (Contd.).
Lecture 19: Robots kinematics (Contd.).
Lecture 20: Robots kinematics (Contd.).
Lecture 21: Trajectory Planning.
Lecture 22: Trajectory Planning (Contd.).
Lecture 23: Singularity Checking.
Lecture 24: Robot Dynamics.
Lecture 25: Robot Dynamics (Contd.).
Lecture 26: Robot Dynamics (Contd.).
Lecture 27: Robot Dynamics (Contd.).
Lecture 28: Robot Dynamics (Contd.).
Lecture 29: Robot Dynamics (Contd.).
Lecture 30: Control Scheme.
Lecture 31: Sensors.
Lecture 32: Sensors (Contd.).
Lecture 33: Sensors (Contd.).
Lecture 34: Robot Vision.
Lecture 35: Robot Vision (Contd.).
Lecture 36: Robot Vision (Contd.).
Lecture 37: Robot Motion Planning.
Lecture 38: Robot Motion Planning (Contd.).
Lecture 39: Robot Motion Planning (Contd.).
Lecture 40: Robot Motion Planning (Contd.).
Lecture 41: Intelligent Robot.
Lecture 42: Biped Walking.
Lecture 43: Biped Walking(Contd.).
Lectura 44: Summary.
Lecture 45: Summary (Contd.).

Taught by

IIT Kharagpur July 2018

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