Robotics: Basics and Selected Advanced Concepts

By Prof. Ashitava Ghosal | IISc Bangalore

Learners enrolled: 1834

This course starts with an introduction to robotics, the key elements and constituents of a robot and science and technology in robots. It provides a unified treatment for the modelling and analysis of serial, parallel, and hybrid manipulators using the key concept of Denavit-Hartenberg parameters, solution of the direct and inverse kinematics of serial and parallel robots and the associated concepts of workspace and mobility are presented. The concept of velocity of the links of the robots and the Jacobian matrix is developed and the associated concepts of singularities in robots are discussed in depth. The equations of motion are derived using the Lagrangian formulation and their solutions using numerical methods are presented. To fully understand control of robots, basic concepts in linear control is introduced using the example of control of a single link of a robot and then the more advanced concept of model-based control is discussed. The course also introduces advanced topics in robotics such as modelling and analysis of wheeled mobile robots, deployable structures and cable driven and pneumatically actuated small/micro robots. The course draws upon a great deal on experiments and hardware developed by research students at IISc and software simulations and hardware experiments are suggested for the course students to do on their own to complement the material taught in the course.

INTENDED AUDIENCE : Primarily Master’s and Ph D students in mechanical, electrical and computer science disciplines. UG students taking Robotics as an elective.
PREREQUISITES : UG level mathematics and programming knowledge
INDUSTRIES SUPPORT : Ashok Leyland, Chennai, GE and GM, TAL and Tata Motors, Government organizations such as ISAC-ISRO (Bangalore), BARC (Mumbai) and CAIR-DRDO (Bangalore)

Summary

Course Status :	Completed
Course Type :	Elective
Language for course content :	English
Duration :	12 weeks
Category :	Mechanical Engineering Manufacturing Processes and Technology Product Design
Credit Points :	3
Level :	Undergraduate/Postgraduate
Start Date :	18 Jan 2021
End Date :	09 Apr 2021
Enrollment Ends :	01 Feb 2021
Exam Date :	24 Apr 2021 IST

Note: This exam date is subject to change based on seat availability. You can check final exam date on your hall ticket.

Page Visits

Course layout

Week 1:Introduction, Elements of a robot

Week 2:Mathematical preliminaries, D-H convention, Examples

Week 3: Direct and Inverse kinematics of serial robots, Workspace, Analytical and numerical solutions

Week 4:Parallel robots – direct and inverse kinematics, Mobility, Stewart-Gough platform

Week 5:Applications of parallel robots in sun tracking, vibration isolation

Week 6:Velocity analysis, Singularities in serial and parallel robots, Statics

Week 7: Redundancy and resolution of redundancy in robots

Week 8:Dynamic equations of motion, derivation & simulation using Matlab

Week 9:Motion planning, Introduction to linear control, simulations & experiments

Week 10:Nonlinear position and force control of robots, Simulations

Week 11: Wheeled mobile robots, modeling and simulations

Week 12:Over-constrained and deployable structures, Cable driven & pneumatically actuated flexible robots

Books and references

Robotics: Fundamental Concepts and Analysis, Oxford University Press, 2006

Recent research papers

Instructor bio

Prof. Ashitava Ghosal

IISc Bangalore

Ashitava Ghosal is a Professor in the Mechanical Engineering Department and the Centre for Product Design and Manufacturing at IISc, Bangalore since 1988. He completed his PhD from Stanford University, California, M.S from University of Florida, Gainesville, Florida and B.Tech from Indian Institute of Technology, Kanpur.His broad research area is in robotics and other computer controlled mechanical systems, nonlinear dynamics and product design. He is the author of ‚ÄúRobotics: Fundamental Concepts and Analysis‚Äù by Oxford University Press (2006) which is used as a textbook in many UG and PG programs in India and abroad.He has 3 patents, published 78 archival journal papers and 80 papers in national and international conferences. He has guided 15 PhDs and more than 70 Masters students at the Indian Institute of Science, Bangalore. He is currently associate editor of the international journals Mechanism and Machine Theory (Elsevier), Mechanics Based Design of Structures and Machines (Taylor & Francis), Journal of Mechanisms and Robots (ASME) and has been an associate editor of ASME Journal of Mechanical Design (2006-2013). He is currently a member of the Executive Committee of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and was elected as a fellow of the Indian National Academy of Engineering in 2010. More information is available at https://mecheng.iisc.ac.in/~asitava

Course certificate

The course is free to enroll and learn from. But if you want a certificate, you have to register and write the proctored exam conducted by us in person at any of the designated exam centres.
The exam is optional for a fee of Rs 1000/- (Rupees one thousand only).
Date and Time of Exams: 24 April 2021 Morning session 9am to 12 noon; Afternoon Session 2pm to 5pm.
Registration url: Announcements will be made when the registration form is open for registrations.
The online registration form has to be filled and the certification exam fee needs to be paid. More details will be made available when the exam registration form is published. If there are any changes, it will be mentioned then.
Please check the form for more details on the cities where the exams will be held, the conditions you agree to when you fill the form etc.

CRITERIA TO GET A CERTIFICATE

Average assignment score = 25% of average of best 8 assignments out of the total 12 assignments given in the course.
Exam score = 75% of the proctored certification exam score out of 100

Final score = Average assignment score + Exam score

YOU WILL BE ELIGIBLE FOR A CERTIFICATE ONLY IF AVERAGE ASSIGNMENT SCORE >=10/25 AND EXAM SCORE >= 30/75. If one of the 2 criteria is not met, you will not get the certificate even if the Final score >= 40/100.

Certificate will have your name, photograph and the score in the final exam with the breakup.It will have the logos of NPTEL and IISc Bangalore.It will be e-verifiable at nptel.ac.in/noc.

Only the e-certificate will be made available. Hard copies will not be dispatched.

Once again, thanks for your interest in our online courses and certification. Happy learning.

- NPTEL team

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