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ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS

Duration: 31:05:00
Lectures: 43
Level: Beginner

Archive

This course starts with an introduction to robotics, the key elements and constituents of a robot and
science and technology in robots. It provides a unified treatment for the modelling and analysis of serial, parallel, and hybrid manipulators using the key concept of Denavit-Hartenberg parameters, solution of the direct and inverse kinematics of serial and parallel robots and the associated concepts of workspace and mobility are presented. The concept of velocity of the links of the robots and the Jacobian matrix is developed and the associated concepts of singularities in robots are discussed in depth. The equations of motion are derived using the Lagrangian formulation and their solutions using numerical methods are presented.

1
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Intro video
10:33
2
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec1-Introduction, Types and Classification of Robots
57:00
3
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec2-Main Elements of a Robot
1:30:20
4
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec3-Modelling and Analysis of Robots
34:13
5
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec4-Mathematical Preliminaries, Homogeneous Transformations
1:02:38
6
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec5-Elements of robot – Joints, Elements of robots — Links
45:35
7
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec6-Examples of D-H parameters and Link transformation matrices
1:05:22
8
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec7-Introduction, Direct Kinematics of Serial Robots
29:23
9
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec8-Inverse Kinematics of Serial Robots
52:51
10
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec9-“Inverse Kinematics of Serial Robots with n < 6, Inverse Kinematics of Serial Robots with n > 6″
43:59
11
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec10-“Elimination Theory & Solution of Non-linear Equations, Inverse Kinematics of a General 6R Robot”
51:47
12
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec11-Introduction, Loop-closure Equations
44:47
13
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec12-Direct Kinematics of Parallel Manipulators
49:42
14
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec13-Mobility of Parallel Manipulators
17:32
15
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec14-Inverse Kinematics of Parallel Manipulators
20:45
16
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec15-Direct Kinematics of Stewart Platform Manipulators
33:08
17
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec16-Sun tracking using 3-DOF parallel manipulator
53:32
18
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec17-Stewart-Gough platform-based force-torque sensor
29:28
19
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec18-Vibration isolation using a Stewart-Gough platform
18:45
20
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec19-Introduction, Linear and Angular Velocity of Links
41:20
21
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec20-Serial Manipulator Jacobian Matrix
39:26
22
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec21-Parallel Manipulator Jacobian Matrix
29:41
23
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec22-Singularities in Serial and Parallel Manipulators
33:48
24
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec23-Statics of Serial and Parallel Manipulators
50:23
25
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec24-Hyper-redundant robots
1:06:27
26
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec25-Redundancy resolution in human arm
35:59
27
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec26-Flexible robots
34:50
28
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec27-Introduction, Lagrangian formulation
43:28
29
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec28-Examples of Equations of Motion
28:53
30
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec29-Inverse Dynamics & Simulation of Equations of Motion
30:18
31
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec30-Recursive Formulations of Dynamics of Manipulators
47:57
32
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec31-Motion planning
40:19
33
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec32-Control of a single link
56:51
34
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec33-Control of a multi-link serial manipulator
25:46
35
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec34-Control of a multi-link manipulator
42:14
36
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec35-Control of constrained and parallel manipulator, Cartesian control of serial manipulators
36:36
37
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec36-Force control of manipulators, Hybrid position/force control of manipulators
51:33
38
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec37-Advanced topics in non-linear control of manipulators
37:14
39
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec38-Wheeled Mobile Robots (WMR) on Flat Terrain
47:32
40
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec39-Wheeled Mobile Robots (WMR) on Uneven Terrain
48:24
41
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec40-Kinematics and Dynamics of WMR on Uneven Terrain
1:02:42
42
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec41-Over-Constrained Mechanism and Deployable Structures
50:05
43
ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS-Lec42-Kinematic and Static Analysis
32:44

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ROBOTICS: BASICS AND SELECTED ADVANCED CONCEPTS
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