Robotics and Control : Theory and Practice

By Prof. N. Sukavanam, Prof.M.Felix Orlando | IIT Roorkee

Learners enrolled: 3248

Robotics has stimulated an growing interest among a wide range of scholars, researchers and students due to its interdisciplinary characteristics. The development of this field of science is boosted by various domains which are not limited to Cybernetics, Controls, Computers, Mechanics, Bio-Engineering, and Electronics. Among these areas, modelling, control, planning play a fundamental role not only in the growth of industrial robotics, but also towards the advanced fields including healthcare and field robotics.

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.

INTENDED AUDIENCE : Electrical Engineering, Computer Science Department, Mechanical Engineering,
Electronics and Communication Engineering, Mathematics Department.

PREREQUISITES : Basic Mathematics

INDUSTRY SUPPORT : Nil

Summary

Course Status :	Completed
Course Type :	Elective
Language for course content :	English
Duration :	8 weeks
Category :	Electrical, Electronics and Communications Engineering Mechanical Engineering Product Design Advanced Dynamics and Vibration
Credit Points :	2
Level :	Undergraduate/Postgraduate
Start Date :	24 Jan 2022
End Date :	18 Mar 2022
Enrollment Ends :	07 Feb 2022
Exam Date :	27 Mar 2022 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 : Simple manipulators: Two /three arm manipulators and their kinematics equations, Work space Homogeneous Transformation: Rotation, Translation, Composition of homogeneous transformations

Week 2 : Danavit-Hartimber Algorithm: D-H procedure for fixing joint coordinate frames, Robot parameters, Arm matrix, Inverse Kinematics for PUMA, SCARA manipulators.

Week 3 : Introduction to Robotic Exoskeletons,Optimal Design of a Three Finger Exoskeleton for Rehabilitation Purpose

Week 4 : Differential transformation and velocity of a frame: Derivative of a frame, Velocity, Jacobian, Inverse Jacobian, Trajectory Planning: Polynomial trajectory, Biped trajectory

Week 5 : Dynamics: Lagrangian method, Robot dynamics equation,Control: Robot dynamics equation as a control system, Trajectory tracking control, PD controller, Neural network control design

Week 6 : Redundancy Resolution of Human Fingers using Robotic Principles,Manipulability Analysis of Human Fingers during Coordinated Object Rotation,Kinematics of Flexible Link Robots,

Week 7 : Robot Assisted Needling System for Percutaneous Intervention-An Introduction,Smart Robotic Needles for Percutaneous Cancerous Interventions

Week 8 : Robust Force Control of a Two Finger Exoskeleton during Grasping ,Neural Control of an Index Finger Exoskeleton – Lecture 1,Neural Control of an Index Finger Exoskeleton – Lecture 2

Books and references

1. Richard Paul, Robot Manipulators: Mathematics, Programming and Control, MIT Press, 1981

2. Robert Shilling, Fundamentals of Robotics, Prentice-Hall , 2003

3. Laxmidhar Behera and Indrani Kar, “Intelligent Systems and Control”, Oxford University Press, Nov 2009.

4. M. Felix Orlando, Ashish Dutta, Anupam Saxena, Laxmidhar Behera, Tomoya Tamei and Tomohiro Shibata, “Manipulability Analysis of Human Thumb, Index and Middle Finger in Cooperative 3D Rotational Movements of a Small Object”, Robotica, vol. 31, pp. 797-809, 2013.

5. M. Felix Orlando, Laxmidhar Behera, Tomayo Tamei, Tomohiro Shibata, Ashish Dutta and Anupam Saxena," On Redundancy Resolution of the Human Thumb, Index and Middle Fingers in Cooperative Object Translation," Robotica, vol. 35, pp. 1992-2017, 2016.

Instructor bio

Prof. N. Sukavanam

IIT Roorkee

Prof. N. Sukavanam received his Ph. D from the Indian Institute of Science, Bangalore in 1985. He served as a Scientist-B at Naval Science and Technological Laboratory, DRDO for two years (1984-86). Then joined as a Research Scientist in the Department of Mathematics, IIT Bombay (1987-90). Worked as a Lecturer at BITS Pilani from 1990 to 1996. In May 1996 he Joined the Department of Mathematics at IIT Roorkee (University of Roorkee at that time) as an Assistant Professor. Currently he is a Professor in the Department of Mathematics IIT Roorkee and Head of the Mathematics from Feb. 2018. His areas of research includes Nonlinear Analysis, Control Theory and Robotics. Professor Sukavanam has published about 80 papers in refereed journals, 30 papers in International Conference Proceedings. He has guided 19 Ph. Ds, 60 M. Sc./M. Phil/MCA Dissertations. Organized International Workshop on Industrial Problems. Developed Pedagogy online course on Mathematics I, offered NPTEL online video course on Dynamical Systems and Control and conducted more than six QIP/Continuing Education courses on Robotics and Control

Prof.M.Felix Orlando

Dr. M. Felix Orlando received his Ph.D. from Electrical Engineering Department at Indian Institute of Technology Kanpur (IITK) in 2013, where his advisors were Prof. Laxmidhar Behera, Prof. Ashish Dutta, Prof. Anupam Saxena. In 2015, he completed his post doctoral fellowship at Case Western Reserve University, USA, working with Prof. Tarun Podder, Prof. Yan Yu, Prof. Hutapea focussing on Medical robotics. Dr. Felix Orlando has started as an Assistant Professor in the Department of Electrical Engineering at the Indian Institute of Technology Roorkee (IITR) from November 2015 onwards. He is also the member of IEEE, IEEE-Robotics and Automatin Society (IEEE-RAS), ASME. His current research focuses on medical robotics, rehabilitation robotics, visual servoing and Biomechanics. He is currently the board member of the Student Technical Committee (STC) of robotics, IITR. He has also received the Faculty Initiation Grant (FIG) from IITR for the duration 2016 to 2018. He has received the Early Career Research Award in 2017. He has also coordinated a GIAN course on robotics with Prof. Doik Kim of South Korea in 2017. He has chaired several technical sessions of IEEE international conferences which include, IEEE-AIM 2018, Auckland, IEEE-INDICON 2017, IIT Roorkee, IEEE IECON 2017, Beijing and IEEE ICCSCE 2016, Malaysia. He has presented research papers at various international conferences and has several international robotics journal papers.

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: 27 March 2022 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 6 assignments out of the total 8 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 IIT Roorkee.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