Credits: 3 (3-0-0)
Prerequisites: For UG: APL100: Engineering Mechanics; For 428PG: None
Description
Introduction to Kinematics; Rigid body kinematics-translations and rotations; 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.
Prerequisite Tree
flowchart TD
MCL799-1465[MCL799]
MCL799-1465 --> APL100-1465[APL100]
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