MCL799
| MCL799 | |
|---|---|
| Mechanics and Control of Robots | |
| Credits | 3 |
| Structure | 3-0-0 |
| Pre-requisites | For UG: APL100: Engineering Mechanics; For |
| Overlaps | |
MCL799 : Mechanics and Control of Robots
[edit]PG: None Introduction to Kinematics; Rigid body kinematics-translations and Courses of Study 2024-2025 Mechanical Engineering 292rotations; Coordinate transformations; Newton-Euler equations of motion; Recursive techniques; Principle of virtual work and D'Alembert's principle; Euler-Lagrange equations of motion; DeNOC based dynamic modelling; Trajectory planning; Forward and Inverse Dynamics; Transfer function and state-space representation of dynamical systems; Controllers (P, PD, PID); Phase portraits; Equilibrium points and their classification; Lyapunov stability; Non-linear trajectory control; Cartesian and force control.