Robotics: Dynamics, Control, And Motion Planning (part 2)
 

Solve inverse kinematics problems and analyze robot workspace.
Model and analyze robot velocity and singularities using differential kinematics.
Apply dynamic formulations to compute forces and torques in manipulators.
Plan trajectories and control robotic motion using advanced kinematics and screw theory.
Requirements
Basics of Robot Kinematics, Still you will learn everything that you want to know
Description
This course, Robotics: Dynamics, Control, and Motion Planning (Part 2), provides an in-depth exploration of advanced robotics concepts essential for designing and controlling robotic manipulators. It begins with a focus on inverse kinematics and workspace analysis, enabling students to compute joint parameters and understand the reachable space of various robot configurations such as two-link planar, SCARA, and articulated arms. The course then advances into differential kinematics, teaching students how to use Jacobian matrices for velocity analysis and understand singularities that affect manipulator performance.Building on this foundation, the dynamics module introduces the Euler-Lagrange and Newton-Euler formulations, equipping learners with tools to model the forces and torques acting on robotic systems. Students apply these methods through numerical problems, reinforcing practical understanding. The course also covers advanced motion concepts, including screw theory and the use of Plücker coordinates, enhancing the ability to represent complex robot motions efficiently.Finally, learners study motion planning and control, focusing on trajectory generation and implementing work cell controllers to ensure smooth and precise robot operation. This comprehensive course blends theoretical knowledge with practical problem-solving, preparing students and professionals for challenges in robotic system design, control, and automation. It is ideal for engineering students, researchers, and practitioners aiming to master advanced robotics techniques.
Overview
Section 1: Inverse Kinematics and Workspace
Lecture 1 Inverse Kinematics
Lecture 2 Workspace of a Two-Link Planar Manipulator
Lecture 3 Solvability of Kinematic Equations
Lecture 4 Inverse Kinematics of SCARA (RRPR) manipulator
Lecture 5 Inverse Kinematics of Articulated (RRR) Robotic Arm
Section 2: Differential Kinematics and Velocity Analysis
Lecture 6 Differential Kinematics in Robotics
Lecture 7 Two Numerical problems based on Differential Kinematics
Lecture 8 Velocity Propagation Model for Serial Manipulator
Lecture 9 Numerical Problem 1: Based on velocity propagation model for serial manipulator
Lecture 10 Numerical Problem 2: Based on velocity propagation model for serial manipulator
Lecture 11 Singularities in manipulators
Section 3: Robot Dynamics
Lecture 12 Euler-Lagrange Equation: Dynamics
Lecture 13 Numerical problem based on Robot Dynamics
Lecture 14 Newton-Euler formulation
Lecture 15 Numerical problem based on forward recursion
Lecture 16 Numerical problem based on backward recursion
Lecture 17 Lagrangian Dynamic formulation for RP manipulator
Section 4: Advanced Concepts in Motion
Lecture 18 Screw Coordinates in Kinematics (Screw Theory)
Lecture 19 Numerical problem based on Plücker Coordinates, Twist and Wrenches
Section 5: Motion Planning & Control
Lecture 20 Trajectory planning
Lecture 21 Work Cell Controller in Robotics
This course is ideal for undergraduate and graduate engineering students specializing in robotics, mechanical, or automation engineering who want to build a strong foundation in robotic kinematics, dynamics, and control. It is also well-suited for professionals and researchers aiming to deepen their knowledge of advanced robotic motion and manipulation techniques. Additionally, robotics enthusiasts and developers interested in both theoretical concepts and practical applications will find this course valuable. The course is particularly beneficial for those preparing for competitive exams such as GATE, IES, or technical interviews in the field of robotics and automation.
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