Mechanics and Control of Robotic Manipulators

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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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What Will You Learn?

  • 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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