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.
Course Content
Introduction – Mechanics and Control of Robotic Manipulators
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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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