Weeks | Topics |
1 |
Definition of the robot,
Historical Development,
Classification of Robots,
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2 |
Position, orientation and location of a Rigid Body
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3 |
Homogeneous Transformations
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4 |
Mechanics of Robot Manipulators
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5 |
Position analysis of serial manipulators,
Link Parameters and Link Coordinate Systems
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6 |
Position analysis of serial manipulators,
Denavit-Hartenberg Transformation Matrices
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7 |
Position analysis of serial manipulators,
Loop-Closure equations
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8 |
Position analysis of serial manipulators,
Applications of Denavit-Hartenberg Method,
Forward and inverse position analysis
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9 |
Position analysis of parallel manipulators,
Structure Classification of Parallel Manipulators
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10 |
Position analysis of parallel manipulators,
Position Analysis of a Planar 3RRR Parallel Manipulator
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11 |
Position Analysis of a Spatial Orientation Mechanism
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12 |
Jocabian Analysis of Serial and Parallel Manipulators
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13 |
Static and Dynamic Analysis of Serial and Parallel Manipulators
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14 |
Control of Parallel and Serial Manipulators
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