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Mechanism and Robot Kinematics

Mechanism and Robot Kinematics. Instructor: Prof. Anirvan Dasgupta, Department of Mechanical Engineering, IIT Kharagpur. This course will be a foundation course in analysis of mechanisms and robots. After a brief introduction to the subject matter and terms, the audience will be introduced to kinematic analysis of planar constrained mechanisms, and closed and open chain robot manipulators. The course will dwell upon direct and inverse kinematics, velocity and acceleration analysis, kinematic motion generation, singularities in kinematic chains, principle of virtual work and force analysis, coordinate frames and transformations. The course will demonstrate various concepts by working out problems relevant to applications involving mechanisms and robotic chains. The course is expected to help students and researchers in their basic understanding and use of kinematic analysis. This course will also pave way for more advanced courses on mechanism and robot dynamics and design. (from nptel.ac.in)

Lecture 15 - Displacement Analysis: Open Chain Robot II

Topics covered in this lecture: Displacement analysis of robot manipulators, Problem of forward and inverse kinematics, Example of RP open chain manipulator.


Go to the Course Home or watch other lectures:

Lecture 01 - Introduction
Lecture 02 - Nomenclature
Lecture 03 - Kinematic Diagram
Lecture 04 - Degree of Freedom
Lecture 05 - Degree of Freedom (cont.)
Lecture 06 - Degree of Freedom - Failure
Lecture 07 - Grashof Criteria
Lecture 08 - Grashof Criteria (cont.)
Lecture 09 - Geometry and Representation of Vectors
Lecture 10 - Displacement Analysis: Constrained Mechanism
Lecture 11 - Displacement Analysis: Constrained Mechanism - 4R Chain Example
Lecture 12 - Displacement Analysis: Constrained Mechanism - 3R1P Chain Example
Lecture 13 - Displacement Analysis: Constrained Mechanism - 3R1P Chain Example (cont.)
Lecture 14 - Displacement Analysis: Open Chain Robot I
Lecture 15 - Displacement Analysis: Open Chain Robot II
Lecture 16 - Displacement Analysis: Open Chain Robot III
Lecture 17 - Displacement Analysis: Open Chain Robot IV
Lecture 18 - Displacement Analysis: Closed Chain Robot
Lecture 19 - Displacement Analysis: Closed Chain Robot (cont.)
Lecture 20 - Velocity Analysis: Geometric Concepts I
Lecture 21 - Velocity Analysis: Geometric Concepts II
Lecture 22 - Velocity Analysis: Geometric Concepts III
Lecture 23 - Velocity Analysis: Application of Geometric Concepts I
Lecture 24 - Velocity Analysis: Application of Geometric Concepts II
Lecture 25 - Velocity Analysis: Application of Geometric Concepts III
Lecture 26 - Velocity Analysis: Analytical Approach - Example of 4R Chain
Lecture 27 - Velocity Analysis: Analytical Approach - Example of 3R1P Chain
Lecture 28 - Velocity Analysis: Analytical Approach - Example of 3R1P Chain and Combination
Lecture 29 - Serial Manipulator Velocity Analysis I
Lecture 30 - Serial Manipulator Velocity Analysis II
Lecture 31 - Serial Manipulator Velocity Analysis III
Lecture 32 - Parallel Manipulator Velocity Analysis
Lecture 33 - Path Generation Problem
Lecture 34 - Acceleration Analysis
Lecture 35 - Acceleration Analysis (cont.)
Lecture 36 - Force Analysis
Lecture 37 - Force Analysis (cont.)
Lecture 38 - Coordinate Transformation I
Lecture 39 - Coordinate Transformation II
Lecture 40 - Coordinate Transformation III