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The exhaustive list of topics in Robotics in which we provide Help with Homework Assignment and Help with Project is as follows: 

  • Science and Technology of robots.
  • Position and orientation of a rigid body.
  • Homogeneous transformations.
  • Representation of joints.
  • link representation using D-H parameters.
  • Examples of D-H parameters and link transforms.
  • Different kinds of actuators – stepper.
  • DC servo and brushless motors.
  • Model of a DC servo motor.
  • Types of transmissions.
  • Purpose of sensors.
  • Internal and external sensors.
  • Common sensors :
    • Encoders.
    • Tachometers.
    • Strain gauge based force-torque sensors.
    • Proximity and distance measuring sensors.
    • Vision.
  • Direct and inverse kinematics problems.
  • Examples of kinematics of common serial manipulators.
  • Workspace of a serial robot.
  • Inverse kinematics of constrained and redundant robots.
  • Tractrix based approach for fixed and free robots and multi-body systems.
  • Simulations and experiments.
  • Solution procedures using theory of elimination.
  • Inverse kinematics solution for the general 6R serial manipulator.
  • Degrees-of-freedom of parallel mechanisms and manipulators.
  • Active and passive joints.
  • Constraint and loop-closure equations.
  • Direct kinematics problem.
  • Mobility of parallel manipulators.
  • Closed-from and numerical solution.
  • Inverse kinematics of parallel manipulators and mechanisms.
  • Direct kinematics of Gough-Stewart platform.
  • Linear and angular velocity of links.
  • Velocity propagation.
  • Manipulator Jacobians for serial and parallel manipulators.
  • Velocity ellipse and ellipsoids.
  • Singularity analysis for serial and parallel manipulators.
  • Loss and gain of degree of freedom.
  • Statics of serial and parallel manipulators.
  • Statics and force transformation matrix of a Gough-Stewart platform.
  • Singularity analysis and statics.
  • Mass and inertia of links.
  • Lagrangian formulation for equations of motion for serial and parallel manipulators.
  • Generation of symbolic equations of motion using a computer.
  • Simulation (direct and inverse) of dynamic equations of motion.
  • Examples of a planar 2R and four-bar mechanism.
  • Recursive dynamics.
  • Commercially available multi-body simulation software (ADAMS).
  • Computer algebra software Maple.
  • Joint and Cartesian space trajectory planning and generation.
  • Classical control concepts using the example of control of a single link.
  • Independent joint PID control.
  • Control of a multi-link manipulator.
  • Non-linear model based control schemes.
  • Simulation and experimental case studies on serial and parallel manipulators.
  • Control of constrained manipulators.
  • Cartesian control.
  • Force control.
  • Hybrid position.
  • Force control.
  • Advanced topics in non-linear control of manipulators.
  • Models of flexible links and joints.
  • Kinematic modeling of multi-link flexible robots.
  • Dynamics and control of flexible link manipulators.
  • Numerical simulations results.
  • Experiments with a planar two-link flexible manipulator.
  • Wheeled mobile robots (WMR).
  • Two and three-wheeled WMR on flat surfaces.
  • Slip and its modeling.
  • WMR on uneven terrain.
  • Design of slip-free motion on uneven terrain.
  • Kinematics.
  • Dynamics and static stability of a three-wheeled WMR’s on uneven terrain.
  • Simulations using Matlab and ADAMS.
  • Chaos.
  • Non-linear dynamics.
  • Chaos in robot equations.
  • Simulations of planar 2 DOF manipulators.
  • Analytical criterion for unforced motion.
  • Gough-Stewart platform and its singularities.
  • Use of near singularity for fine motion for sensing.
  • Design of Gough-Stewart platform based sensors.
  • Over-constrained mechanisms and deployable structures.
  • Algorithm to obtain redundant links and joints.
  • Kinematics and statics of deployable structures with pantographs or scissor-like elements (SLE’s).