Course Name: ED5260 : Mechanics and Control of Robot Manipulators

Description: Kinematics of robots: Robot links in spatial motion; Descriptions of link orientation; Homogeneous transformations; Elementary types of joints; DH parameters; Velocity and acceleration analysis of robot manipulators; Singularities and isotropy; Statics of robots: The virtual work principle and its applications to robot statics; Constraint forces in robot mechanisms; Dynamics of robots: Inertia of robot links; Lagrangian formulation of the dynamics of articulated robots; Modeling and simulation of robot manipulators; Control of robots: Model-based control of robots; Trajectory-tracking control; Formulations in the joint space and the Cartesian space; Force control; Switched-mode control;

Slot: E

RoomNo: ED206

Instructor: Sandipan Bandyopadhyay

Period: JAN-MAY 2013

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