Robotics

Evolution of robots and robotics - definition of industrial robot - laws of robotics - robot anatomy - design and control - robot configuration - economic and social issues - present and future application - mapping - frames - description of objects in space - transformation of vectors - description of links and joints - denavit-hartenberg notation - relationship between adjacent links - manipulator transformation matrix - manipulator workspace - manipulator jacobian - jacobian inverse - jacobian singularity - static analysis - dynamic modeling - lagrangian mechanics, 2d - dynamic model - euler formulation - newton-euler formulation - robot sensors - internal and external sensors - force sensors - thermocouples - robot actuators - hydraulic and pneumatic actuators - electrical actuators - dc motor - servomotor - stepper motor - micro gripper - trajectory planning - joint space planning - applications of robotics - inspection - welding.