Introduction and Motivation
Overview about the Kinematics
Dynamics and Control aspects
of Robots
Introduction to Industrial
Manipulator Robot
Discussion-Major Trends in Robotics-Definitions
Position and Orientation of a
Robot-Part-1
Introduction to Rigid Body
Kinematics-Degrees of Freedom
Classification of Robots based
on Kinematic Configuration-Discussion
Rotation Matrices and Change of Coordinates-Homogeneous
Transformation
Rotation Matrices-omposition of RotationSolved Problems
Fixed frame and moving frame
Rotation-Problems
Homogeneous Transformation-
Problems
Euler angle Problems
Computing Inverse of HTF-Forward
Kinematics
Kinematic Chains-DH parameters
DH Parameters-Solved Problems
Virtual Lab- Open source-
Kinematics study-Roboanalyser
Inverse kinematics-solvability-
Multiplicity of solutions
Inverse Kinematics- Analytical
Solutions- Problems
Analytic solutions of
Inverse Kinematics problems
Tutorial Problem
Numerical Methods of Solving
Inverse Kinematics Problems
Virtual Open source-Python lab Numerical Methods of solving Inverse Kinematics
Gradient based Numerical
Methods
Differential Kinematics-Problems
Angular velocities and Jacobians-Singularities-Problems
Trajectory Planning,Point to point control-Position control
Tutorial Problems on Differential
Kinematics and Jacobians
Python for Robotics for solving
control problems-Position control
Motor control using PID using Python
Euler lagrange Dynamics-
Derivation-Kinetic and Potential energy
Eular Lagrange Dynamics-Problems-Derivative of a vector in a moving frame
Torque-Motion control-Concepts
Concepts behind Dynamics and Control
Pendulum Problem(Doubt clarifcation lecture)
