Course Description

In this course, Prof. P. Seshu, Prof. P.S. Gandhi, Prof. K. Kurien Issac, Prof. B. Seth and Prof. C. Amarnath give 40 video lectures on Robotics. Topics discussed in this course are:

- Brief History

- Types of robots

- Uses of robots

- Presentation of status and future trends in robotics

- Overview of robot subsystems

- Issues in designing and controlling robots: resolution, repeatability and accuracy, transmission

- Robot configurations and concept of workspace

- Mechanisms and transmission

- Robot Anatomy: End effectors and actuators, Sensors and controllers.

- Different types of grippers, vacuum and other methods of gripping

- Pneumatic, hydraulic and electric actuators

- Internal and external sensors

- Position, velocity and acceleration sensors

- Proximity sensors

- Force sensors

- Laser range finder

- Micro-controllers


- Centralized controllers

- Real time operating systems

- Point to point and continuous motion specifications for typical applications

- Joint interpolation

- Task space interpolation

- Executing user specified tasks

- Position and orientation of rigid bodies

- Spatial mechanism description

- Denavit-Hartenberg notation

- Homogenous transformation

- Forward and inverse position analysis

- Velocity mapping

- Static force analysis

- Singularities

- Acceleration mapping

- Independent joint control

- PD and PID feedback

- Actuator models

- Nonlinearity of manipulator models

- Issues in nonlinear control

- Force feedback

- Hybrid control

- Obstacle avoidance

- Configuration space

- Road map methods

- Graph search algorithms

- Potential field methods

- Camera model and perspective transformation

- Image processing fundamentals for robotic applications

- Image acquisition and preprocessing

- Segmentation and region characterization

- Object recognition by image matching and based on features

- Problem of bin-picking

- Micro-robotics and MEMS (Micro electro mechanical systems)

- Fabrication technology for micro-robotics

- Stability issues in legged robots

- Under-actuated manipulators


Lecture 20: Forward Position Control.

2 ratings

Video Lectures & Study Materials

# Lecture Play Lecture
1 Introduction to Robotics Play Video
3 Industrial Robots Play Video
4 Industrial Manipulators and its Kinematics Play Video
5 Parallel Manipulators Play Video
6 Grippers Manipulators Play Video
7 Electric Actuators Play Video
8 Actuators: Electric, Hydraulic and Pneumatic Play Video
9 Internal State Sensors Play Video
10 Internal State Sensors Play Video
11 External State Sensors Play Video
12 Trajectory Planning (Part 1) Play Video
13 Trajectory Planning (Part 2) Play Video
14 Trajectory Planning (Part 3) Play Video
15 Trajectory Planning (Part 4) Play Video
16 Trajectory Planning (Part 5) Play Video
17 Trajectory Planning (Part 6) Play Video
18 Trajectory Planning (Part 7) Play Video
19 Trajectory Planning (Part 8) Play Video
20 Trajectory Planning (Part 9) Play Video
21 Inverse Problem Play Video
22 Velocity Analysis (Part 1) Play Video
23 Velocity Analysis (Part 2) Play Video
24 Dynamic Analysis Play Video
25 Image Processing (Part 1) Play Video
26 Image Processing (Part 2) Play Video
27 Image Processing (Part 3) Play Video
28 Image Processing (Part 4) Play Video
29 Image Processing (Part 5) Play Video
30 Image Processing (Part 6) Play Video
31 Robot Dynamics and Control (Part 1) Play Video
32 Robot Dynamics and Control (Part 2) Play Video
33 Robot Dynamics and Control (Part 3) Play Video
34 Robot Dynamics and Control (Part 4) Play Video
35 Robot Dynamics and Control (Part 5) Play Video
36 Robot Dynamics and Control (Part 6) Play Video
37 Futuristic Topics in Robotics (Part 1) Play Video
38 Futuristic Topics in Robotics (Part 2) Play Video
39 Futuristic Topics in Robotics (Part 3) Play Video
40 Futuristic Topics in Robotics (Part 4) Play Video


Displaying 1 comment:

elwaaamr wrote 12 years ago.
i think it is helpful for me

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