Review of robot manipulator (Serial and Parallel), DH convention, Forward and Inverse kinematics, Workspace, Analytical and numerical solutions, vibration isolation.
Redundancy and resolution of redundancy in robots, minimizing joint rotations and cartesian motion, Tractrix based approach (resolution, planar and spatial). Experimental 8-link hyper-redundant manipulator, Dynamic equations of motion, derivation & simulation, Recursive inverse dynamics: Newton-Euler formulation, Articulated body algorithm, Chaos and non-linear dynamics, Pseudo-inverse approach, modal approach for straight and circular trajectory.
Simulation on linear control, motion planning, nonlinear position and force control of 6 DOF robot manipulator, partitioning of tasks. Numerical and analytical solutions, Over-constrained and deployable structures 3 modelling and analysis, Cable driven & pneumatically actuated flexible robots.