Robotics: Dynamics, Control and Motion planning (Part 2)

Robotics: Dynamics, Control and Motion planning (Part 2) free download

Inverse Kinematics, Workspace Analysis, Control systems, Differential Kinematics, Robot Dynamics,Trajectory planning

This course, Robotics: Dynamics, Control and Motion planning (Part 2),  provides an in-depth exploration of advanced robotics concepts essential for designing and controlling robotic manipulators. It begins with a focus on inverse kinematics and workspace analysis, enabling students to compute joint parameters and understand the reachable space of various robot configurations such as two-link planar, SCARA, and articulated arms. The course then advances into differential kinematics, teaching students how to use Jacobian matrices for velocity analysis and understand singularities that affect manipulator performance.

Building on this foundation, the dynamics module introduces the Euler-Lagrange and Newton-Euler formulations, equipping learners with tools to model the forces and torques acting on robotic systems. Students apply these methods through numerical problems, reinforcing practical understanding. The course also covers advanced motion concepts, including screw theory and the use of Plücker coordinates, enhancing the ability to represent complex robot motions efficiently.

Finally, learners study about concepts of motion planning and control , focusing on trajectory generation and implementing work cell controllers to ensure smooth and precise robot operation, followed by manipulator controllers such as open and closed loop, PID , adaptive type and others. This comprehensive course blends theoretical knowledge with practical problem-solving, preparing students and professionals for challenges in robotic system design, control, and automation. It is ideal for engineering students, researchers, and practitioners aiming to master advanced robotics techniques.