Complete Guide To Manipulator Robotics: Theory To Simulation

A full fledged course on Robot Kinematics and Trajectory planning, Guide to developing your pick and place robot

What you'll learn

Complete understanding of Serial Robot Kinematics- from derivation to application

Learn mathematical models (Kinematics and Trajectory planning) with their real world application

Understand and analyze the core concepts through simulations using open source tools

Ability to apply the concepts to develop your own pick and place robot

Requirements

Passion to learn and work on robotics

Basics of Linear Algebra (Not Mandatory)

A passion to learn applied mathematics

No programming experience expected

Description

This course is intended to provide a complete understanding of serial robot kinematics and its application in real world. This course is fundamental to those who plan to work on serial robotics. As robotics is a very much sought skill at present, this course is surely a best start for the beginners. This course will cover the fundamentals of Manipulator Robotics, Fundamentals of Transformations, Kinematics and the trajectory planning. The mathematical foundations are explained in a very simpler and effective way, providing examples wherever necessary. All the contents have clear explanation of its application and is integrated with simulation exercises to provide a deep insight on the mathematical foundations. The simulation exercises are developed in open source Python environment . The simulation exercises are prepared to provide insights to all the key concepts covered. This course on kinematics is prepared to ensure that the students get enough knowledge to use the concept for their robotics projects. An additional content as a guideline to develop your own pick and place robot is also provided in the course. It is assured that you will be able to learn the mathematical concept in a very systematic way with a clear knowledge of its implementation in real robotics application enabling you to use the same for your projects. Wishing you a great learning.

Overview

Section 1: Highlights of the Course

Lecture 1 Understand your course -"Why you should not miss this course?"

Section 2: Introduction to the course contents with practical insights

Lecture 2 Contents of the Course

Section 3: Fundamentals of Manipulator Robotics

Lecture 3 Basic Terminologies and Datasheet Interpretation

Lecture 4 Object Description

Lecture 5 Describing the orientation of a Body using Rotation Matrix

Lecture 6 Homogenous Transformation - Describing the pose of a body

Lecture 7 Compound Transformation and their application

Lecture 8 Application of Transformations - A real world example

Lecture 9 Simulation Exercise (using Python) - Rotation Matrix

Lecture 10 Simulation Exercise (using Python) - Homogenous Transformation

Section 4: Introduction to Forward Kinematics and its computation

Lecture 11 Introduction to Kinematics

Lecture 12 Deriving the forward Kinematic Model of Serial Manipulators- Standard DH method

Lecture 13 Forward kinematic model of a 3R spatial arm- A sample derivation

Lecture 14 Forward kinematic model of a Spherical Wrist (RPY)- Sample Derivation

Lecture 15 Forward kinematic model of an Industrial Robot- Sample derivation with datasheet

Lecture 16 Simulation Exercise : Forward Kinematics

Lecture 17 Simulation Exercise : Computing the workspace

Section 5: Introduction to Inverse Kinematics and its Computation

Lecture 18 Introduction to Inverse Kinematics and its computation method

Lecture 19 Inverse Kinematic Model of a Spherical Wrist - A sample Derivation

Lecture 20 Inverse Kinematic Computation using Numerical Method - An Introduction

Lecture 21 Simulation Exercise : Inverse Kinematics

Lecture 22 Simulation Exercise : Simulating an Industrial Robot

Section 6: Introduction to Trajectory Planning

Lecture 23 Introduction to the concept of Trajectory Planning and Types

Lecture 24 Joint Space Trajectory Planning Algorithm : Derivation and method of application

Lecture 25 Simulation Exercise : Applying Trajectory Planner

Section 7: Developing your own Pick and Place Robot : Step by Step Guidelines

Lecture 26 Step by step guidelines in developing a pick and place robot application

Someone who is interested to work on Robotics project,Someone who is a passionate teacher looking to get expertise in most sought field like Robotics,School to college students who are keen to develop their own robotics project,Someone who is keen to learn the application of mathematics in real robot application