NOC:Mechanics and Control of Robotic Manipulators

Lecture 1 - Introduction

Lecture 2 - Introduction to robot mechanics

Lecture 3 - Introduction to forward and inverse kinematics

Lecture 4 - Description of position and orientation

Lecture 5 - Transformation matrix

Lecture 6 - Compound rotations - Part 1

Lecture 7 - Compound rotations - Part 2

Lecture 8 - Kinematic parameters

Lecture 9 - DH parameters

Lecture 10 - DH representation

Lecture 11 - Frame arrangement and examples - Part 1

Lecture 12 - Examples related to frame arrangement

Lecture 13 - Frame arrangement and examples - Part 2

Lecture 14 - Forward and inverse kinematics of robotic manipulators

Lecture 15 - Examples related to inverse kinematics

Lecture 16 - Inverse kinematic solution based on numerical methods

Lecture 17 - Forward kinematic solution using Matlab

Lecture 18 - Inverse kinematic solution based on numerical methods using Matlab

Lecture 19 - Introduction to differential kinematics

Lecture 20 - Velocity propogation model for serial manipulators and Jacobian matrix

Lecture 21 - Velocity propogation model using Matlab

Lecture 22 - Manipulator Statics and Workspace singularities

Lecture 23 - Introduction to robot dynamics and Lagrange-Euler method

Lecture 24 - Newton-Euler method

Lecture 25 - Equation of motion in state-space form

Lecture 26 - Dynamic model derivation using Newton-Euler method in Matlab

Lecture 27 - Dynamic model derivation using Lagrange-Euler method in Matlab

Lecture 28 - Dynamic simulation of serial manipulators using Matlab

Lecture 29 - Introduction to trajectory generation

Lecture 30 - Trajectory generation using smooth functions

Lecture 31 - Trajectory generation schemes for serial manipulators

Lecture 32 - Trajectory generation using Matlab - Part 1

Lecture 33 - Trajectory generation using Matlab - Part 2

Lecture 34 - Trajectory generation for serial manipulators using matlab

Lecture 35 - Trajectory generation for serial manipulators with workspace using matlab

Lecture 36 - Introduction to robot motion control

Lecture 37 - Types of robot manipulator control and concerns

Lecture 38 - Kinematic control

Lecture 39 - Matlab simulation on kinematic control

Lecture 40 - Dynamic control

Lecture 41 - Simulations related to dynamic control schemes using Matlab - Part 1

Lecture 42 - Cascaded control design

Lecture 43 - Simulations related to dynamic control schemes using Matlab - Part 2

Lecture 44 - Simulations related to dynamic control schemes using Matlab - Part 3

Lecture 45 - Kinematic and dynamic models of a mobile robot using DH approach