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
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