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Robotics and Control: Theory and Practice

Robotics and Control: Theory and Practice. Instructors: Prof. N. Sukavanam and Prof. M. Felix Orlando, Department of Electrical Engineering, IIT Roorkee. Robotics has stimulated a growing interest among a wide range of scholars, researchers and students due to its interdisciplinary characteristics. Through this course the participants will acquire the ability to conduct research, develop innovative designs in the field of systems engineering and control of robots and to direct the development of engineering solutions in new or unfamiliar environments by linking creativity, innovation and transfer of technology. (from nptel.ac.in)

Lecture 09 - Manipulator Jacobian


Go to the Course Home or watch other lectures:

Lecture 01 - Introduction
Lecture 02 - Coordinate Frames and Homogeneous Transformations
Lecture 03 - Coordinate Frames and Homogeneous Transformations (cont.)
Lecture 04 - Differential Transformations
Lecture 05 - Transforming Differential Changes between Coordinate Frames
Lecture 06 - Kinematic Model for Robot Manipulator
Lecture 07 - Direct Kinematics
Lecture 08 - Inverse Kinematics
Lecture 09 - Manipulator Jacobian
Lecture 10 - Manipulator Jacobian Example
Lecture 11 - Trajectory Planning
Lecture 12 - Dynamics of Manipulator
Lecture 13 - Dynamics of Manipulator (cont.)
Lecture 14 - Manipulator Dynamics Multiple Degree of Freedom
Lecture 15 - Stability of Dynamical System
Lecture 16 - Manipulator Control
Lecture 17 - Biped Robot Basics and Flat Foot Biped Model
Lecture 18 - Biped Robot Flat Foot and Toe Foot Model
Lecture 19 - Artificial Neural Network
Lecture 20 - Neural Network based Control for Root Manipulator
Lecture 21 - Redundancy Resolution of Human Fingers in Cooperative Object Translation
Lecture 22 - Redundancy Resolution of Human Fingers in Cooperative Object Translation (cont.)
Lecture 23 - Fundamentals of Robot Manipulability
Lecture 24 - Manipulability Analysis of Human Fingers in Cooperative Rotational Motion
Lecture 25 - Robotic Exoskeletons: An Introduction
Lecture 26 - Introduction to Robotic Hand Exoskeleton
Lecture 27 - Design and Development of a Three Finger Exoskeleton
Lecture 28 - Force Control of an Index Finger Exoskeleton
Lecture 29 - Neural Control of a Hand Exoskeleton
Lecture 30 - Neural Control of a Hand Exoskeleton based on Subject Intention
Lecture 31 - Robot Assisted Percutaneous Interventions
Lecture 32 - Experiments on Robot Assisted Percutaneous Interventions
Lecture 33 - Sliding Mode Control
Lecture 34 - Higher Order Sliding Mode Control
Lecture 35 - Smart Needles for Percutaneous Interventions
Lecture 36 - Smart Needles for Percutaneous Interventions (cont.)
Lecture 37 - Flexible Link Kinematics
Lecture 38 - Flexible Link Kinematics (cont.)
Lecture 39 - Model based Control of Robot Manipulators
Lecture 40 - Simulation of Robot Manipulators