Introduction to Robotics | IIT Madras - #15 Manipulator Jacobian & Statics | Introduction to Robotics

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28.3 hours of video
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Summary

Keywords

Manipulator Jacobian and Statics NPTEL SWAYAM INTRODUCTION TO ROBOTICS Prof. T. Asokan Department of Engineering Design IIT Madras Prof. T. Asokan Examples of differential relations Singularities: Boundary singularity Interior singularity

Full Transcript

Welcome to 'Introduction to Robotics' course ! This lecture extends the concept of the Jacobian matrix, exploring its application in static force analysis. Learn how to use the Jacobian to calculate joint torques required to balance external forces acting on the end-effector. We'll discuss types of singularities and their implications for force control, and illustrate the concepts with examples. NPTEL Courses permit certifications that can be used for Course Credits in Indian Universities as per the UGC and AICTE notifications. To understand various certification options for this course, please visit https://nptel.ac.in/courses/107106090 #Robotics #Jacobianmatrix #Statics #ForceControl #Singularity #RoboticManipulation

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