Skip to main content
Introduction To Robotics (Fall 20)
0%
Previous
Lecture 9 in PDF
Welcome Note
Announcements
Week 1: Definition of Robot, Types of Robots (manipulator, legged robot, wheeled robot, autonomous underwater vehicles, unmanned aerial vehicles), Use of Robots, Asimov’s Laws of Robotics, History of Robotics
Lecture 1 in PDF
A link to YouTube video for a quick introduction:
Week 2: Key Components of a Robot, Introduction and Working Principles of Sensors (vision sensor, force sensor, light-dependent resistor (LDR), temperature sensor, smoke sensor, accelerometer gyroscope, laser sensor, tilt sensor, compass)
Lecture 2 in PDF
Extended reference to Basic Components of Robots
Week 3: Introduction and Working Principles of Sensors (infrared transmitter-receiver, infrared sensor array, PIR sensor, sonar sensor)
Lecture 3 in PDF
Reference to extended Basic elements of robots
Week 4: Introduction and Working Principles of Actuators (DC motor, servo motor, stepper motor)
Lecture 4 in PDF
Reference to actuator introduction
Week 5: Interfacing Hardware (Motor Driver, ADC, Op-Amp) and Micro-controllers
Lecture 5 in PDF
Week 6: Week 7: Transformations to Kinematics (with background)
Lecture 6 in PDF
Week 7: Transformations to Kinematics (with background)
Lecture 7 in PDF
Week 8: Transformations to Kinematics (with background)
Lecture 8 in PDF
Video Recording Class
Week 9: Forward Kinematics
Lecture 9 in PDF
Video Recording Class
Video Recording Class-02
Week 10: Control Theory of Robotic Systems (feedback control, PID controller)
Control System Overview
Error Response
Linear Error Dynamics
First Order Error Dynamics
Second Order Error Dynamics
Week 11: Control Theory of Robotic Systems (robot odometry, differential drive and navigation)
Motion Control with Velocity Inputs
Motion Control with Velocity Inputs
Motion Control with Torque or Force Inputs (Part 1 of 3)
Motion Control with Torque or Force Inputs (Part 2 of 3)
Motion Control with Torque or Force Inputs (Part 3 of 3)
Force Control
Hybrid Motion-Force Control
Week 12: Obstacle avoidance/tracking for mobile robots
Obstacle Avoidance
Week 13: Motion Planning Strategies for Static Environments, Implementation of Motion Planning Algorithms
Robot Motion Planning
Next
Side panel
Categories
All categories
DIU
Faculty of Health and Life Sciences
Nutrition and Food Engineering
Extra Courses
NFE Fall 20
NFE Spring 21
NFE Summer 21
NFE Fall 2021
NFE Spring 2022
NFE Summer 2022
NFE Fall 2022
NFE Spring 2023
NFE Fall 2023
NFE Spring 2024
NFE Fall 2024
NFE Spring 2025
Pharmacy
Pharmacy Fall 20
Pharmacy Spring 21
Pharmacy Fall 2021
Pharmacy Spring 2022
Pharmacy Fall 2022
Pharmacy Spring 2023
Pharmacy Fall 2023
Pharmacy Spring 2024
Pharmacy Fall 2024
Pharmacy Spring 2025
Public Health
MPH
MPH Summer 20
PH Fall 19
MPH Fall 20
MPH Spring 21
MPH Summer 2021
MPH Fall 2021
MPH Spring 2022
MPH Summer 2022
MPH Fall 2022
MPH Spring 2023
BPH Fall 2023
MPH Fall 2023
PH Spring 2024
PH Fall 2024
PH Spring 2025
Agricultural Science
AGS Fall 2023
AGS Spring 2024
AGS Fall 2024
AGS Spring 2025
Physical Education and Sports Science
PESS Spring 2023
PESS Fall 2023
PESS Spring 2024
PESS Fall 2024
PESS Spring 2025
Environmental Science and Disaster Management
ESDM Spring 21
ESDM Summer 2021
ESDM Fall 2021
ESDM Spring 2022
ESDM Summer 2022
ESDM Fall 2022
ESDM Spring 2023
ESDM Fall 2023
ESDM Spring 2024
ESDM Fall 2024
ESDM Spring 2025
Genetic Engineering and Biotechnology
GEB Spring 2025
Faculty of Business & Entrepreneurship
Business Administration
BA Spring 21
BA Summer 21
BA Fall 2021
BA Spring 2022
BA Summer 2022
BA Fall 2022
BA Spring 2023
BA Fall 2023
BA Spring 2024
BA Fall 2024
BA Spring 2025
Department of Management
BS Summer 21
BS Fall 2021
BS Spring 2022
BS Spring 2022
BBS Summer 2022
BBS Fall 2022
BBS Spring 2023
BBS Fall 2023
BS Spring 2024
BS Fall 2024
MGT Spring 2025
Innovation and Entrepreneurship
IE Spring 21
IE Summer 2021
IE Fall 2021
IE Spring 2022
IE Summer 2022
IE Fall 2022
IE Spring 2023
IE Fall 2023
IE Spring 2024
IE Fall 2024
IE Spring 2025
Master of Business Administration (MBA)
MBA Spring 21
MBA Summer 2021
MBA Fall 2021
MBA Spring 2022
MBA Summer 2022
MBA Fall 2022
MBA Spring 2023
MBA Fall 2023
MBA Spring 2024
MBA Fall 2024
MBA Spring 2025
Real Estate
RE Spring 21
RE Summer 2021
RE Fall 2021
RE Spring 2022
RE Summer 2022
RE Fall 2022
RE Spring 2023
RE Fall 2023
RE Spring 2024
RE Fall 2024
RE Spring 2025
Tourism and Hospitality Management
THM Spring 21
THM Summer 2021
THM Fall 2021
THM Spring 2022
THM Summer 2022
THM Fall 2022
THM Spring 2023
THM Fall 2023
THM Spring 2024
THM Fall 2024
THM Spring 2025
Department of Accounting
DA Fall 2024
DA Spring 2025
Department of Finance & Banking
F&B Spring 2025
Department of Marketing
MKT Spring 2025
Faculty of Engineering
Architecture
ARCH Spring 21
ARCH Fall 2021
ARCH Spring 2022
ARCH Fall 2022
ARCH Spring 2023
ARCH Fall 2023
ARCH Spring 2024
ARCH Summer 2024
ARCH Fall 2024
ARCH Spring 2025
Civil Engineering
CE Spring 21
CE Summer 21
CE Fall 2021
CE Spring 2022
CE Summer 2022
CE Fall 2022
CE Spring 2023
CE Summer 2023
CE Fall 2023
CE Spring 2024
CE Summer 2024
CE Fall 2024
CE Spring 2025
Electrical and Electronic Engineering
EEE Summer 20
EEE Fall 20
EEE Spring 21
EEE Summer 21
EEE Fall 2021
EEE Spring 2022
EEE Summer 2022
EEE Fall 2022
EEE Spring 2023
EEE Summer 2023
EEE Fall 2023
EEE Spring 2024
EEE Summer 2024
EEE Fall 2024
Short Semester (EEE Summer 2024)
EEE Spring 2025
Information and Communication Engineering
ETE Summer 2020
ICE Fall 20
ETE Spring 21
ICE Spring 21
ETE Summer 21
ICE Fall 2021
ETE Fall 2021
ICE Spring 2022
ETE Spring 2022
ETE Summer 2022
ICE Summer 2022
ICE Fall 2022
ETE Fall 2022
ICE Spring 2023
ETE Spring 2023
ETE Summer 2023
ICE Summer 2023
ICE Fall 2023
ETE Fall 2023
ICE Spring 2024
Masters in ETE Spring 2024
ICE Summer 2024
ICE Fall 2024
ICE Spring 2025
Textile Engineering
TE Fall 20
TE Spring 21
TE Summer 21
TE Fall 2021
TE Spring 2022
TE Summer 2022
TE Fall 2022
TE Spring 2023
TE Summer 2023
TE Fall 2023
TE Spring 2024
TE Summer 2024
TE Fall 2024
TE Spring 2025
Faculty of Humanities and Social Science
Development Studies
DS Spring 21
DS Summer 21
DS Fall 2021
DS Spring 2022
DS Summer 2022
DS Fall 2022
DS Spring 2023
DS Fall 2023
DS Spring 2024
DS Fall 2024
DS Spring 2025
English
ENG Spring 20
ENG Spring 21
ENG Summer 21
ENG Fall 2021
ENG Spring 2022
ENG Summer 2022
ENG Fall 2022
ENG Spring 2023
ENG Fall 2023
ENG Spring 2024
English Fall 2024
ENG Spring 2025
Journalism, Media and Communication
JMC Spring 21
JMC Summer 2021
JMC Fall 2021
JMC Spring 2022
JMC Summer 2022
JMC Fall 2022
JMC Spring 2023
JMC Fall 2023
JMC Spring 2024
JMC Fall 2024
JMC Spring 2025
LAW
LAW Spring 21
LAW Summer 2021
LAW Fall 2021
LAW Spring 2022
LAW Summer 2022
LAW Fall 2022
LAW Spring 2023
LAW Fall 2023
LAW Spring 2024
LAW Fall 2024
LAW Spring 2025
PGD In Information Science & Library Management
ISLM Summer 21
ISLM Fall 2021
ISLM Spring 2022
ISLM Summer 2022
ISLM Fall 2022
ISLM Spring 2023
ISLM Fall 2023
ISLM Spring 2024
ISLM Fall 2024
ISLM Spring 2025
Faculty of Science and Information Technology
Computer Science and Engineering
CSE Summer 20
CSE Fall 20
CSE Spring 21
CSE Summer 2021
CSE Fall 2021
CSE Spring 2022
CSE Summer 2022
CSE Fall 2022
CSE Spring 2023
CSE Fall 2023
CSE Spring 2024
CSE Fall 2024
CSE Spring 2025
Computing & Information System
CIS Spring 21
CIS Summer 2021
CIS Fall 2021
CIS Spring 2022
CIS Summer 2022
CIS Fall 2022
CIS Spring 2023
CIS Fall 2023
CIS Spring 2024
CIS Fall 2024
CIS Spring 2025
General Educational Development
GED Spring 21
GED Summer 2021
GED Fall 2021
GED Spring 2022
GED Summer 2022
GED Fall 2022
GED Spring 2023
GED Spring 2023
GED Fall 2023
GED Spring 2024
GED Fall 2024
GED Spring 2025
Information Technology & Management
ITM Spring 21
ITM Fall 2021
ITM Spring 2022
ITM Summer 2022
ITM Fall 2022
ITM Spring 2023
ITM Fall 2023
ITM Spring 2024
ITM Fall 2024
ITM Spring 2025
Multimedia and Creative Technology
MCT Spring 21
MCT Summer 2021
MCT Fall 2021
MCT Spring 2022
MCT Summer 2022
MCT Fall 2022
MCT Spring 2023
MCT Fall 2023
MCT Spring 2024
MCT Fall 2024
MCT Spring 2025
Software Engineering
SWE Summer 20
SWE Spring 21
SWE Summer 2021
SWE Fall 2021
SWE Spring 2022
SWE Summer 2022
SWE Fall 2022
SWE Spring 2023
SWE Fall 2023
SWE Spring 2024
SWE Fall 2024
SWE Spring 2025
General
DSA
Division of Research
Art of Living
Scholarships and Waiver
BNCC
CSC,DIU
ManageCat
Test VPL
DEN
CDC
HRDI
Summer 20 (Contractual)
Fall 20 (Contractual)
TAF
Training
DIL
Soft skills
Home
Guidelines
For Teachers
For Students
Search
Search
Search
Search
Close
Toggle search input
You are currently using guest access
Log in
Categories
Collapse
Expand
All categories
DIU
Faculty of Health and Life Sciences
Nutrition and Food Engineering
Extra Courses
NFE Fall 20
NFE Spring 21
NFE Summer 21
NFE Fall 2021
NFE Spring 2022
NFE Summer 2022
NFE Fall 2022
NFE Spring 2023
NFE Fall 2023
NFE Spring 2024
NFE Fall 2024
NFE Spring 2025
Pharmacy
Pharmacy Fall 20
Pharmacy Spring 21
Pharmacy Fall 2021
Pharmacy Spring 2022
Pharmacy Fall 2022
Pharmacy Spring 2023
Pharmacy Fall 2023
Pharmacy Spring 2024
Pharmacy Fall 2024
Pharmacy Spring 2025
Public Health
MPH
MPH Summer 20
PH Fall 19
MPH Fall 20
MPH Spring 21
MPH Summer 2021
MPH Fall 2021
MPH Spring 2022
MPH Summer 2022
MPH Fall 2022
MPH Spring 2023
BPH Fall 2023
MPH Fall 2023
PH Spring 2024
PH Fall 2024
PH Spring 2025
Agricultural Science
AGS Fall 2023
AGS Spring 2024
AGS Fall 2024
AGS Spring 2025
Physical Education and Sports Science
PESS Spring 2023
PESS Fall 2023
PESS Spring 2024
PESS Fall 2024
PESS Spring 2025
Environmental Science and Disaster Management
ESDM Spring 21
ESDM Summer 2021
ESDM Fall 2021
ESDM Spring 2022
ESDM Summer 2022
ESDM Fall 2022
ESDM Spring 2023
ESDM Fall 2023
ESDM Spring 2024
ESDM Fall 2024
ESDM Spring 2025
Genetic Engineering and Biotechnology
GEB Spring 2025
Faculty of Business & Entrepreneurship
Business Administration
BA Spring 21
BA Summer 21
BA Fall 2021
BA Spring 2022
BA Summer 2022
BA Fall 2022
BA Spring 2023
BA Fall 2023
BA Spring 2024
BA Fall 2024
BA Spring 2025
Department of Management
BS Summer 21
BS Fall 2021
BS Spring 2022
BS Spring 2022
BBS Summer 2022
BBS Fall 2022
BBS Spring 2023
BBS Fall 2023
BS Spring 2024
BS Fall 2024
MGT Spring 2025
Innovation and Entrepreneurship
IE Spring 21
IE Summer 2021
IE Fall 2021
IE Spring 2022
IE Summer 2022
IE Fall 2022
IE Spring 2023
IE Fall 2023
IE Spring 2024
IE Fall 2024
IE Spring 2025
Master of Business Administration (MBA)
MBA Spring 21
MBA Summer 2021
MBA Fall 2021
MBA Spring 2022
MBA Summer 2022
MBA Fall 2022
MBA Spring 2023
MBA Fall 2023
MBA Spring 2024
MBA Fall 2024
MBA Spring 2025
Real Estate
RE Spring 21
RE Summer 2021
RE Fall 2021
RE Spring 2022
RE Summer 2022
RE Fall 2022
RE Spring 2023
RE Fall 2023
RE Spring 2024
RE Fall 2024
RE Spring 2025
Tourism and Hospitality Management
THM Spring 21
THM Summer 2021
THM Fall 2021
THM Spring 2022
THM Summer 2022
THM Fall 2022
THM Spring 2023
THM Fall 2023
THM Spring 2024
THM Fall 2024
THM Spring 2025
Department of Accounting
DA Fall 2024
DA Spring 2025
Department of Finance & Banking
F&B Spring 2025
Department of Marketing
MKT Spring 2025
Faculty of Engineering
Architecture
ARCH Spring 21
ARCH Fall 2021
ARCH Spring 2022
ARCH Fall 2022
ARCH Spring 2023
ARCH Fall 2023
ARCH Spring 2024
ARCH Summer 2024
ARCH Fall 2024
ARCH Spring 2025
Civil Engineering
CE Spring 21
CE Summer 21
CE Fall 2021
CE Spring 2022
CE Summer 2022
CE Fall 2022
CE Spring 2023
CE Summer 2023
CE Fall 2023
CE Spring 2024
CE Summer 2024
CE Fall 2024
CE Spring 2025
Electrical and Electronic Engineering
EEE Summer 20
EEE Fall 20
EEE Spring 21
EEE Summer 21
EEE Fall 2021
EEE Spring 2022
EEE Summer 2022
EEE Fall 2022
EEE Spring 2023
EEE Summer 2023
EEE Fall 2023
EEE Spring 2024
EEE Summer 2024
EEE Fall 2024
Short Semester (EEE Summer 2024)
EEE Spring 2025
Information and Communication Engineering
ETE Summer 2020
ICE Fall 20
ETE Spring 21
ICE Spring 21
ETE Summer 21
ICE Fall 2021
ETE Fall 2021
ICE Spring 2022
ETE Spring 2022
ETE Summer 2022
ICE Summer 2022
ICE Fall 2022
ETE Fall 2022
ICE Spring 2023
ETE Spring 2023
ETE Summer 2023
ICE Summer 2023
ICE Fall 2023
ETE Fall 2023
ICE Spring 2024
Masters in ETE Spring 2024
ICE Summer 2024
ICE Fall 2024
ICE Spring 2025
Textile Engineering
TE Fall 20
TE Spring 21
TE Summer 21
TE Fall 2021
TE Spring 2022
TE Summer 2022
TE Fall 2022
TE Spring 2023
TE Summer 2023
TE Fall 2023
TE Spring 2024
TE Summer 2024
TE Fall 2024
TE Spring 2025
Faculty of Humanities and Social Science
Development Studies
DS Spring 21
DS Summer 21
DS Fall 2021
DS Spring 2022
DS Summer 2022
DS Fall 2022
DS Spring 2023
DS Fall 2023
DS Spring 2024
DS Fall 2024
DS Spring 2025
English
ENG Spring 20
ENG Spring 21
ENG Summer 21
ENG Fall 2021
ENG Spring 2022
ENG Summer 2022
ENG Fall 2022
ENG Spring 2023
ENG Fall 2023
ENG Spring 2024
English Fall 2024
ENG Spring 2025
Journalism, Media and Communication
JMC Spring 21
JMC Summer 2021
JMC Fall 2021
JMC Spring 2022
JMC Summer 2022
JMC Fall 2022
JMC Spring 2023
JMC Fall 2023
JMC Spring 2024
JMC Fall 2024
JMC Spring 2025
LAW
LAW Spring 21
LAW Summer 2021
LAW Fall 2021
LAW Spring 2022
LAW Summer 2022
LAW Fall 2022
LAW Spring 2023
LAW Fall 2023
LAW Spring 2024
LAW Fall 2024
LAW Spring 2025
PGD In Information Science & Library Management
ISLM Summer 21
ISLM Fall 2021
ISLM Spring 2022
ISLM Summer 2022
ISLM Fall 2022
ISLM Spring 2023
ISLM Fall 2023
ISLM Spring 2024
ISLM Fall 2024
ISLM Spring 2025
Faculty of Science and Information Technology
Computer Science and Engineering
CSE Summer 20
CSE Fall 20
CSE Spring 21
CSE Summer 2021
CSE Fall 2021
CSE Spring 2022
CSE Summer 2022
CSE Fall 2022
CSE Spring 2023
CSE Fall 2023
CSE Spring 2024
CSE Fall 2024
CSE Spring 2025
Computing & Information System
CIS Spring 21
CIS Summer 2021
CIS Fall 2021
CIS Spring 2022
CIS Summer 2022
CIS Fall 2022
CIS Spring 2023
CIS Fall 2023
CIS Spring 2024
CIS Fall 2024
CIS Spring 2025
General Educational Development
GED Spring 21
GED Summer 2021
GED Fall 2021
GED Spring 2022
GED Summer 2022
GED Fall 2022
GED Spring 2023
GED Spring 2023
GED Fall 2023
GED Spring 2024
GED Fall 2024
GED Spring 2025
Information Technology & Management
ITM Spring 21
ITM Fall 2021
ITM Spring 2022
ITM Summer 2022
ITM Fall 2022
ITM Spring 2023
ITM Fall 2023
ITM Spring 2024
ITM Fall 2024
ITM Spring 2025
Multimedia and Creative Technology
MCT Spring 21
MCT Summer 2021
MCT Fall 2021
MCT Spring 2022
MCT Summer 2022
MCT Fall 2022
MCT Spring 2023
MCT Fall 2023
MCT Spring 2024
MCT Fall 2024
MCT Spring 2025
Software Engineering
SWE Summer 20
SWE Spring 21
SWE Summer 2021
SWE Fall 2021
SWE Spring 2022
SWE Summer 2022
SWE Fall 2022
SWE Spring 2023
SWE Fall 2023
SWE Spring 2024
SWE Fall 2024
SWE Spring 2025
General
DSA
Division of Research
Art of Living
Scholarships and Waiver
BNCC
CSC,DIU
ManageCat
Test VPL
DEN
CDC
HRDI
Summer 20 (Contractual)
Fall 20 (Contractual)
TAF
Training
DIL
Soft skills
Home
Guidelines
Collapse
Expand
For Teachers
For Students
Expand all
Collapse all
Course Menu
Open course index
CSE 444( FR-203)
Week 9: Forward Kinematics
Lecture 9 in PDF
Lecture 9 in PDF
Completion requirements
Click
KInematics-Fall2020.ppt
link to view the file.
Prev Section
Jump to...
Jump to...
Announcements
Lecture 1 in PDF
A link to YouTube video for a quick introduction:
Lecture 2 in PDF
Extended reference to Basic Components of Robots
Lecture 3 in PDF
Reference to extended Basic elements of robots
Lecture 4 in PDF
Reference to actuator introduction
Lecture 5 in PDF
Lecture 6 in PDF
Lecture 7 in PDF
Lecture 8 in PDF
Video Recording Class
Video Recording Class
Video Recording Class-02
Control System Overview
Error Response
Linear Error Dynamics
First Order Error Dynamics
Second Order Error Dynamics
Motion Control with Velocity Inputs
Motion Control with Velocity Inputs
Motion Control with Torque or Force Inputs (Part 1 of 3)
Motion Control with Torque or Force Inputs (Part 2 of 3)
Motion Control with Torque or Force Inputs (Part 3 of 3)
Force Control
Hybrid Motion-Force Control
Obstacle Avoidance
Robot Motion Planning
Next Activity
