Credits: 3 (3-0-0)
Prerequisites: ELL225
Description
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.
Prerequisite Tree
flowchart TD
ELL704-344[ELL704]
ELL225-344 --> ELL205-344[ELL205]
ELL704-344 --> ELL225-344[ELL225]
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