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).