Resource Person:-Dr.Vikram
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Week |
Lecture No. |
Topic Name |
YouTube Video Link |
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1 |
0 |
History of Robots |
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|
1 |
Introduction |
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|
2 |
Mathematical Preliminaries |
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|
2 |
3 |
Coordinate Transformations |
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|
4 |
Homogeneous Transformation |
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5 |
Robot Joints and Degree of Freedom |
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6 |
Types of Robot Manipulator |
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|
7 |
Denavit - Hartenberg (D-H) Notation |
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|
8 |
Denavit - Hartenberg (D-H) Representation |
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|
3 |
9 |
Robot Kinematics |
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|
10 |
Forward Kinematics |
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|
11 |
Forward Kinematics : Jacobian |
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|
12 |
Energy Equivalence and Jacobian |
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|
4 |
13 |
Inverse Kinematics |
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|
14 |
Inverse Kinematics : Algebraic Approach |
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|
15 |
Inverse Kinematics : Jacobian |
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|
16 |
Inverse Kinematics : SVD and Damped Least Square |
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|
17 |
Inverse Kinematics : Gradient Descent |
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|
5 |
18 |
Kinematic Singularities : Part-1 |
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|
19 |
Kinematics Singularities : Part-2 |
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|
20 |
Robot Dynamics : Lagrangian Formulation |
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|
21 |
Robot Dynamics : Examples |
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|
22 |
Newton - Euler Formulation |
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|
6 |
23 |
Actuators : Part-1 |
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|
24 |
Actuators : Part-2 |
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|
25 |
BLDC Motor |
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|
7 |
26 |
Control - PWM and H-Bridge Control |
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|
27 |
Sensors |
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|
8 |
28 |
Robot Actuator Control System |
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|
29 |
Control : State Space Design |
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|
30 |
State Feedback Compensation and Observer |
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|
31 |
Trajectory Interpolation |
