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.
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
Student Ratings & Reviews
No Review Yet