Robotics deals with the design, construction, operation, and use of robots, as well as computer systems for their control, sensory feedback, and information processing.
Introduction Of Robotics
History of Robots
Types of Robots, Notation
Mathematical Representation of Robots
Position and Orientation of a Rigid Body
Some Properties of Rotation Matrices
Successive Rotations,moving frame ZYZ
Transformation between coordinate system
Types of Joints: Rotary
Representation of Links using Denvit - Hartenberg Parameters
Kinematics of Serial Manipulators
Direct kinematics of 2R, 3R, RRP, RPR
Puma560 manipulator
SCARA manipulator
Stanford Arm
Inverse kinematics of 2R, 3R manipulator
Velocity and Statics of Manipulators
Differential Relationships
Jacobian
Differential motions of a frame (translation and rotation)
Linear and angular velocity of a rigid body
links in serial manipulators, 2R, 3R manipulator
Jacobian of serial manipulator
Velocity ellipse of 2R manipulator
Singularities of 2R manipulators
Statics of serial manipulators
Static force and torque analysis of 3R manipulator
Singularity in force domain.
Dynamics of Manipulators
Kinetic energy
Potential energy
Equation of motions
Inertia of a link
Recursive formulation of Dynamics using Newton Euler equation
Trajectory Planning
Joint space schemes
Cubic Trajectory
Joint space schemes with via points
Cubic trajectory with a via point
Third order polynomial trajectory planning
Linear segments with parabolic blends
Cartesian space schemes
Cartesian straight line and circular motion planning
Control
Feedback control of a single link manipulator- first order
second order system, PID control
PID control of multi link manipulator
Force control of manipulator
force control of single mass
Partitioning a task for force and position control- lever
peg in hole Hybrid force
position controller
Actuators
Types
Characteristics of actuating system
proportional feedback control
Electric motors
DC motors, Reversible AC motors, Brushles DC motors, Stepper motors