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).