- Course code
- ELL704
- L-T-P
- 3-0-0
- Credits
- 3
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.