Teaching assistant: Yogesh Pratap Singh,
yogeshsingh iisc dot ac dot in
and Rakesh Kumar,
rakeshkumar2 iisc dot ac dot in
Lectures: Tuesday and Thursday, 10:00 AM - 11:30 AM;
on Online through on Microsoft Teams
Syllabus
Rigid body and its representations in 3D, Degrees of freedom and
constraints, Multi-body systems and generalised coordinates, Kinematics of
rigid bodies and multi-body systems, Velocities and accelerations,
Newton-Euler and Lagrangian formalism, Equations of motion of
multi-body systems such as mechanisms and robotic manipulators, feedback
control of dynamic systems, transfer functions, Nyquist plots, Bode plots,
and Root locus, state-space based representation of dynamic systems,
solution to state equations, control design for pole placement,
observability and controllability in linear systems.
References:
(1) J. L. Meriam, and L. G. Kraige, Engineering Mechanics: Dynamics, Wiley,
2013/7th Edition
(2) A. Ghosal, Robotics: Fundamental Concepts and Analysis, Oxford
University Press, 2006
(3) R. Douglas Gregory, Classical Mechanics, Cambridge University Press,
2006
(4) G. F. Franklin, J. D. Powell, and A. Emami-Naeini, Feedback control of
dynamic systems, Pearson, 2006/5th edition
