Robotic Control Systems
Introduction to robotics and applications.
Prismatic, Cylindrical, Spherical and Revolute Manipulators.
Homing of a Robot, Coordinate Systems.
Position and Orientation.
Rotation and Transformation Matrices.
Dexterity, Work envelope.
Degrees of freedom: Ministration of DOF for different type of Manipulators.
Frame Assignment to links.
Forward Kinematics, Inverse Kinematics for Robots.
Forward and lnverse Kinematics for one Industrial Robots.
Introduction to Robot Dynamics. Walking Robots.
Velocities, Angular Velocities, Forces and Torques Transformation.
The concept of Jacobian.
Speed and Torque Control.
Interfacing Computers to Robots.
Trajectory Control Systems.
Introduction to Image Processing: Filtering of Raw Images, Histogram of Images.
Binary Images, Filtering of Binary Images.
Object Shape Recognition using Moments Method, Fourier Descriptors.
Drives for Robots: Tactile Arrays, Position and velocity sensors.
Analog and Digital feedback: Revolvers, Optical Encoders.