Mechanics And Control Of Robotic Manipulators

About Course

Mechanics and Control of Robotic Manipulators

The goal of this course is to teach students how to model, simulate, and control spatial multi-degree-of-freedom robotic manipulators. The kinematics and dynamics of robotic manipulators will be studied in particular. To gain a better understanding of the practical aspect of robotics, laboratory exercises will be carried out.

The use of MATLAB as a tool for robot system analysis and simulation is a side-objective. This course gives you hands-on experience with technical writing and presentation.

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will be able to compute the mobility of planar and spatial structures, mechanisms, and serial and parallel robots (number of degrees of freedom). will be able to use the mathematical foundations of motion description, such as rotation matrices, to their work.
will be able to calculate Denavit-Hartenberg parameters for planar and spatial serial robot chains.
kinematics of forward and inverse velocity
polynomials for joint-space trajectory generation

Course Content

Introduction – Mechanics and Control of Robotic Manipulators

Forward kinematic solution using Matlab

00:00
Inverse kinematic solution based on numerical methods using Matlab

00:00
Introduction to differential kinematics

00:00
Velocity propogation model for serial manipulators and Jacobian matrix

00:00
Velocity propogation model using Matlab

00:00
Manipulator Statics and Workspace singularities

00:00
Introduction to robot dynamics and Lagrange-Euler method

00:00
Newton-Euler method

00:00
Equation of motion in state-space form

00:00
Dynamic model derivation using Newton-Euler method in Matlab

00:00
Dynamic model derivation using Lagrange-Euler method in Matlab

00:00
Dynamic simulation of serial manipulators using Matlab

00:00
introduction to trajectory generation

00:00
Trajectory generation using smooth functions

00:00
Trajectory generation schemes for serial manipulators

00:00
Trajectory generation using Matlab part 2

00:00
Trajectory generation for serial manipulators with workspace using matlab

00:00
Introduction to robot motion control

00:00
Types of robot manipulator control and concerns

00:00
Kinematic control

00:00
Matlab simulation on kinematic control

00:00
Dynamic control

00:00
Simulations related to dynamic control schemes using Matlab part 1

00:00
Cascaded control design

00:00
Simulations related to dynamic control schemes using Matlab part 2

00:00
Simulations related to dynamic control schemes using Matlab part 3

00:00
Kinematic and dynamic models of a mobile robot using DH approach

00:00

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About Course

Mechanics and Control of Robotic Manipulators

What Will You Learn?

Course Content

Introduction – Mechanics and Control of Robotic Manipulators

Forward kinematic solution using Matlab

Inverse kinematic solution based on numerical methods using Matlab

Introduction to differential kinematics

Velocity propogation model for serial manipulators and Jacobian matrix

Velocity propogation model using Matlab

Manipulator Statics and Workspace singularities

Introduction to robot dynamics and Lagrange-Euler method

Newton-Euler method

Equation of motion in state-space form

Dynamic model derivation using Newton-Euler method in Matlab

Dynamic model derivation using Lagrange-Euler method in Matlab

Dynamic simulation of serial manipulators using Matlab

introduction to trajectory generation

Trajectory generation using smooth functions

Trajectory generation schemes for serial manipulators

Trajectory generation using Matlab part 2

Trajectory generation for serial manipulators with workspace using matlab

Introduction to robot motion control

Types of robot manipulator control and concerns

Kinematic control

Matlab simulation on kinematic control

Dynamic control

Simulations related to dynamic control schemes using Matlab part 1

Cascaded control design

Simulations related to dynamic control schemes using Matlab part 2

Simulations related to dynamic control schemes using Matlab part 3

Kinematic and dynamic models of a mobile robot using DH approach

Student Ratings & Reviews