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    FRM Course Syllabus IPDownload

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    Deepu Choudhary
    This document outlines the course MEC260: Advanced Robotics which covers dynamics modeling, recursive dynamics, linear and nonlinear control systems, motion planning, and control hardware and programming. The course has 6 units that cover topics like Euler-Lagrange formulation, Newton-Euler formulation, dynamic algorithms, recursive dynamics modeling, linear control techniques, nonlinear and force controls, motion planning approaches, and control hardware architectures and robot languages. The intended learning outcomes are for students to understand robot dynamics, apply recursive dynamics, analyze control systems, discuss motion planning, and identify control hardware and programming.

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    FRM Course Syllabus IPDownload

    Uploaded by

    Deepu Choudhary
    8 views1 page
    This document outlines the course MEC260: Advanced Robotics which covers dynamics modeling, recursive dynamics, linear and nonlinear control systems, motion planning, and control hardware and programming. The course has 6 units that cover topics like Euler-Lagrange formulation, Newton-Euler formulation, dynamic algorithms, recursive dynamics modeling, linear control techniques, nonlinear and force controls, motion planning approaches, and control hardware architectures and robot languages. The intended learning outcomes are for students to understand robot dynamics, apply recursive dynamics, analyze control systems, discuss motion planning, and identify control hardware and programming.

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    This document outlines the course MEC260: Advanced Robotics which covers dynamics modeling, recursive dynamics, linear and nonlinear control systems, motion planning, and control hardware and programming. The course has 6 units that cover topics like Euler-Lagrange formulation, Newton-Euler formulation, dynamic algorithms, recursive dynamics modeling, linear control techniques, nonlinear and force controls, motion planning approaches, and control hardware architectures and robot languages. The intended learning outcomes are for students to understand robot dynamics, apply recursive dynamics, analyze control systems, discuss motion planning, and identify control hardware and programming.

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    © All Rights Reserved
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    Download as pdf or txt
    8 views1 page

    FRM Course Syllabus IPDownload

    Uploaded by

    Deepu Choudhary
    This document outlines the course MEC260: Advanced Robotics which covers dynamics modeling, recursive dynamics, linear and nonlinear control systems, motion planning, and control hardware and programming. The course has 6 units that cover topics like Euler-Lagrange formulation, Newton-Euler formulation, dynamic algorithms, recursive dynamics modeling, linear control techniques, nonlinear and force controls, motion planning approaches, and control hardware architectures and robot languages. The intended learning outcomes are for students to understand robot dynamics, apply recursive dynamics, analyze control systems, discuss motion planning, and identify control hardware and programming.

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    MEC260:ADVANCED ROBOTICS

    L:3 T:0 P:0 Credits:3

    Course Outcomes: Through this course students should be able to

    CO1 :: Understand the dynamics of robot or manipulator modeling

    CO2 :: Apply the recursive robot dynamics

    CO3 :: Analyze the linear, non linear and force controls of the robotic systems

    CO4 :: Discuss the various types of motion planning

    CO5 :: Identify the control hardware and robot programming

    Unit I
    Dynamics : Introduction, Euler-Lagrange Formulation, Newton-Euler Formulation, Dynamic
    Algorithms
    Unit II
    Recursive Robot Dynamics : Introduction, Dynamic Modeling, Analytical Expressions, Recursive
    Forward Dynamics and Simulation
    Unit III
    Linear Control : Control Techniques, Dynamic Systems, Transfer Function, Robotic Joint, Joint
    Controllers
    Unit IV
    Nonlinear and Force Controls : Control of a moving block, Multivariable robot control, Stability of
    Multi-DOF Robot, Linearized Control, PD Position Control, Computed-Torque Control, Feedforward
    Control, Robust Control, Adaptive Control, Cartesian Control, Force Control, Hybrid Control
    Unit V
    Motion Planning : Introduction, Joint Space Planning, Cartesian Space Planning, Path Primitives,
    Cartesian Trajectories
    Unit VI
    Control Hardware and Robot Programming : Control Considerations, Hardware Architecture,
    Hardware for Joint Controllers, Computational Speed, Robot Languages, Robot Programming

    Text Books:
    1. INTRODUCTION TO ROBOTICS by S K SAHA, Mc Graw Hill Education

    References:
    1. ROBOTICS AND CONTROL by R K. MITTAL, I J. NAGRATH, Mc Graw Hill Education

    Session 2022-23 Page:1/1

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