Mechanics and Control of Robotic Manipulators

By Prof. Santhakumar Mohan   |   IIT Palakkad
Learners enrolled: 916
Upon completion of the course, the students should able to: 

• Learn algorithmic approaches, mathematical models, and computational and motion control methods applicable to robotic manipulator systems 
• Recognize and analyze the basic mechanical and electrical systems concerning robots 
• Analyze and design the basic robotic systems 
• Implement and investigate the performance of various control techniques to the robotic manipulators

INTENDED AUDIENCE :Undergraduate/graduate students interested in robotics and manipulators

INDUSTRY SUPPORT : Most of the robotic and service oriented industries will recognize and give a value to this course
Course Status : Completed
Course Type : Elective
Duration : 8 weeks
Category :
  • Mechanical Engineering
  • Advanced Dynamics and Vibration
  • Robotics
  • Advanced Mechanics
Credit Points : 2
Level : Undergraduate/Postgraduate
Start Date : 25 Jul 2022
End Date : 16 Sep 2022
Enrollment Ends : 08 Aug 2022
Exam Date : 25 Sep 2022 IST

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

Page Visits

Course layout

Week 1: Introduction: Effector: locomotion, and manipulation. Serial and parallel manipulators. Descriptions, Transformations and homogeneous transformation matrix. 
Week 2: Manipulator (serial manipulator) kinematics: Kinematic parameters, different notations, Denavit-Hartenberg (DH) representation, arm matrix. Forward and inverse kinematics. Analytical and numerical solutions. Examples
Week 3: Differential kinematics: Differential (velocity) kinematics, velocity propagation, forward differential kinematics and inverse differential kinematics.
Week 4: Jacobian matrix and Manipulator statics: Mapping between configuration-space to operational-space. Jacobian matrix and Pseudo inverse concepts. Introduction to workspace singularities.Manipulator statics: Conservation of energy or power, the mapping between operation-space to configuration-space inputs. Examples
Week 5: Manipulator dynamics: Motion dynamics: Forward and inverse dynamics. Lagrangian (Lagrange-Euler) and Newton-Euler formulations. Examples
Week 6: Dynamic simulation: Dynamic modeling of robotic manipulators and computer-based numerical simulations
Week 7: Trajectory generation: Path and Trajectory. Configuration (joint) space trajectory and operational (task) space trajectory generations.
Week 8:Control of robotic manipulators: Joint space and task-space control schemes.

Computational exercises using Matlab/Simulink or similar tools will be part of weekly exercises.

Books and references

  1. SK Saha, Introduction to Robotics, Tata McGraw-Hill, 2014, ISBN: 9789332902817 
  2. A Ghosal, Robotics: Fundamental Concepts and Analysis, Oxford University Press, 2008, ISBN: 9780195673913 
  3. JJ Craig, Introduction to Robotics: Mechanics and Control, John Wiley and Sons, 2004, ISBN: 9780201543612 
  4. RM Murray, Z Li, SS Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994, ISBN: 9780849379819 
  5. RN Jazar, Theory of Applied Robotics: Kinematics, Dynamics and Control, Springer, 2010, ISBN: 9781489977602

Instructor bio

Prof. Santhakumar Mohan

IIT Palakkad
Dr. Santhakumar Mohan is an Associate professor in the department of Mechanical Engineering, Indian Institute of Technology Palakkad. He has more than 10 years of professional experience in teaching and research. He has been teaching the course on Wheeled mobile robots (shortly mobile robotics) for the last 7 years for both undergraduate and postgraduate students. He is active in the design and development of mobile robots for field applications and has 4 patents filed in India. For more details please visit the webpage(https://iitpkd.ac.in/people/santhakumar).

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: 25 September 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.


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 Madras .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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