Introduction to robotics
This course is a bridge-course for students from various disciplines to get the basic understanding of robotics. The mechanical, electrical, and computer science aspects of robotics is covered in this introductory course.
Week 1: Introduction to robotics- History, growth; Robot applications- Manufacturing industry, defense, rehabilitation, medical etc., Laws of Robotics
Week 2: Robot mechanisms; Kinematics- coordinate transformations, DH parameters
Week 3: Forward kinematics, Inverse Kinematics
Week 4: Jacobians, Statics, Trajectory Planning
Week 5: Actuators (electrical)- DC motors, BLDC servo motors
Week 6: Sensors , sensor integration
Week 7: Control – PWM, joint motion control, feedback control
Week 8: Computed torque control
Week 9: Perception, Localisation and mapping
Week 10:Probabilistic robotics, Path planning, BFS; DFS; Dijkstra; A-star; D-star; Voronoi; Potential Field; Hybrid approaches
Week 11: Simultaneous Localization and Mapping
Week 12:Introduction to Reinforcement Learning.