Course abstract
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.
Course Instructor
Prof. Ashitava Ghosal
Ashitava Ghosal is a Professor in the Mechanical Engineering Department and the Centre for Product Design and Manufacturing at IISc, Bangalore since 1988. He completed his PhD from Stanford University, California, M.S from University of Florida, Gainesville, Florida and B.Tech from Indian Institute of Technology, Kanpur. His broad research area is in robotics and other computer controlled mechanical systems, nonlinear dynamics and product design. He is the author of Robotics: Fundamental Concepts and Analysis by Oxford University Press (2006) which is used as a textbook in many UG and PG programs in India and abroad.More info
Teaching Assistant(s)
No teaching assistant data available for this course yetCourse Duration : Jan-Apr 2022
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Enrollment : 14-Nov-2021 to 31-Jan-2022
Exam registration : 13-Dec-2021 to 18-Mar-2022
Exam Date : 23-Apr-2022
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