Manipulator Kinematics

Relevant Course: Robotics and Robot Applications

Relevant Department : Engineering Design

Relevant Semester: 5th or 7th

Pre-requisite: Nil

Course Description & Outline :

         Mechanics - Kinematic parameters and modelling, direct and inverse kinematics

Schedule for Lecture Delivery

Session 1 : 11-Sep-2015 (10-12 noon)

Session 2 : 15-Sep-2015 (10-12 noon)

Session 3 : 22-Sep-2015 (10-12 noon)

Teacher Forum

Introduction to Manipulator kinematics

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To Download:

Introduction to Robotics and Kinematics

Co-ordinate Frames

Composite Rotations

Homo genous Co-ordinates and Degrees of freedom 

Architecture : Robot body and Arm Configuration 

Assignment - I

Assignment  - I 

Assignment not available

Solutions

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Quiz - I

Quiz - I 

Quiz not avilable

Forum for Introduction to Manipulator Kinematics

Forum for Introduction to  Manipulator Kinematics 

Forum not available

Forward Kinematics

Direct Forward kinematics

DH Matrix


Direct Forward kinematics problem

Forward kinematics Example :

Forum for Forward Kinematics

Forum for Forward Kinematics 

Forum not available

Assignment - II

Question 1 :

Question 2:

Assignment not available

Solutions

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Quiz - II

Quiz - II

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Inverse Kinematics and Differential Relations

Video - 1

Video- 2

Video - 3

Video - 4

Video - 5

Forum for Inverse Kinematics and Differential Relations

Forum for Inverse Kinematics and Differential Relations

Forum not available

Quiz - III

Quiz - III

Quiz not avilable

Table of Contents