ELL700
| ELL700 | |
|---|---|
| or ELL333 | |
| Credits | 3 |
| Structure | 3-0-0 |
| Pre-requisites | ELL225 |
| Overlaps | |
ELL700 : or ELL333
[edit]Review of Coordinate Transformations, D-H parameters and kinematics. Velocity kinematics and Jacobian, Singularity analysis, Robot Dynamics. Motion planning, Robot control: linear methods – feedforward control, state feedback, observers; Nonlinear Control methods – Computed Torque Control, Feedback linearization, Sliding Mode control; Vision based Robotic Control. Holonomic and Non-Holonomic Systems, Mobile Robots : Modeling and Control, Odometry Analysis, Navigation problems with obstacle avoidance, motion capturing systems.