ABOUT THE COURSE: The course is intended as a second level course for students, teachers and industry personal interested in learning the advanced concepts in robotics, as required in the design and control of robotic systems. This course is not intended as a basic course for learning robotics. The course starts with an introduction to robotics, linkages and workspaces, transformations, kinematics, trajectory planning and dynamics. Next, singular value decomposition is introduced to explain the concept of manipulation ability that is followed by the basics of linear control methods. The course also introduces advanced topics like modeling and analysis of multi-finger grasping, legged robots, their design and optimization with real world applications.INTENDED AUDIENCE: Students (UG 3rd/4th year in Mechanical/Electrical/Computer Science), Teachers of engineering colleges, Industry professorialPREREQUISITES: Basic Mathematics : matrices, differential equationsINDUSTRY SUPPORT: All Manufacturing companies (TATA motors, Mahindra, Maruti, Hyundai, GE, GM, etc), IT companies (TCS, Infosys, etc), process industries using robotics
Overview
Syllabus
Week 1: Introduction, transformationsWeek 2:DH ParametersWeek 3:Forward and Inverse Kinematics, redundancy resolutionWeek 4:Velocity kinematics and JacobianWeek 5:Singular value decomposition, singularity and manipulation abilityWeek 6:Trajectory planning , dynamicsWeek 7:Sensors and actuators as used in roboticsWeek 8:Basics of linear control – PD, PID controller, model based control, stabilityWeek 9:Multi finger grasping – form, force closures, grasp matrixWeek 10:Locomotion – active and passive walkers, concepts of balanceWeek 11:Biped Gait and Balance using ZMP, kinematics and dynamic modeling of walkWeek 12:Design and Optimization of legged mechanisms
Taught by
Prof. Ashish Dutta
