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Robotics and Control: Theory and Practice

Robotics and Control: Theory and Practice. Instructors: Prof. N. Sukavanam and Prof. M. Felix Orlando, Department of Electrical Engineering, IIT Roorkee. Robotics has stimulated a growing interest among a wide range of scholars, researchers and students due to its interdisciplinary characteristics. 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. (from nptel.ac.in)

Lecture 02 - Coordinate Frames and Homogeneous Transformations

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Lecture 01 - Introduction

Lecture 02 - Coordinate Frames and Homogeneous Transformations

Lecture 03 - Coordinate Frames and Homogeneous Transformations (cont.)

Lecture 04 - Differential Transformations

Lecture 05 - Transforming Differential Changes between Coordinate Frames

Lecture 06 - Kinematic Model for Robot Manipulator

Lecture 07 - Direct Kinematics

Lecture 08 - Inverse Kinematics

Lecture 09 - Manipulator Jacobian

Lecture 10 - Manipulator Jacobian Example

Lecture 11 - Trajectory Planning

Lecture 12 - Dynamics of Manipulator

Lecture 13 - Dynamics of Manipulator (cont.)

Lecture 14 - Manipulator Dynamics Multiple Degree of Freedom

Lecture 15 - Stability of Dynamical System

Lecture 16 - Manipulator Control

Lecture 17 - Biped Robot Basics and Flat Foot Biped Model

Lecture 18 - Biped Robot Flat Foot and Toe Foot Model

Lecture 19 - Artificial Neural Network

Lecture 20 - Neural Network based Control for Root Manipulator

Lecture 21 - Redundancy Resolution of Human Fingers in Cooperative Object Translation

Lecture 22 - Redundancy Resolution of Human Fingers in Cooperative Object Translation (cont.)

Lecture 23 - Fundamentals of Robot Manipulability

Lecture 24 - Manipulability Analysis of Human Fingers in Cooperative Rotational Motion

Lecture 25 - Robotic Exoskeletons: An Introduction

Lecture 26 - Introduction to Robotic Hand Exoskeleton

Lecture 27 - Design and Development of a Three Finger Exoskeleton

Lecture 28 - Force Control of an Index Finger Exoskeleton

Lecture 29 - Neural Control of a Hand Exoskeleton

Lecture 30 - Neural Control of a Hand Exoskeleton based on Subject Intention

Lecture 31 - Robot Assisted Percutaneous Interventions

Lecture 32 - Experiments on Robot Assisted Percutaneous Interventions

Lecture 33 - Sliding Mode Control

Lecture 34 - Higher Order Sliding Mode Control

Lecture 35 - Smart Needles for Percutaneous Interventions

Lecture 36 - Smart Needles for Percutaneous Interventions (cont.)

Lecture 37 - Flexible Link Kinematics

Lecture 38 - Flexible Link Kinematics (cont.)

Lecture 39 - Model based Control of Robot Manipulators

Lecture 40 - Simulation of Robot Manipulators