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This document outlines the objectives and content of a course on principles of robotics. The 5 units cover basic concepts of robots, direct and inverse kinematics, manipulator differential motion and statics, path planning, and dynamics and control of manipulators. The course aims to introduce functional elements, kinematics, motion and control, path planning techniques, and dynamics of robotic manipulators. It will provide 45 periods over 5 units to educate students on topics like various manipulators, sensors, programming languages, position and orientation representation, degrees of freedom, Jacobian, singularity, force balance, path planning methods, and dynamic modeling and control of robots.

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501 views1 page

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This document outlines the objectives and content of a course on principles of robotics. The 5 units cover basic concepts of robots, direct and inverse kinematics, manipulator differential motion and statics, path planning, and dynamics and control of manipulators. The course aims to introduce functional elements, kinematics, motion and control, path planning techniques, and dynamics of robotic manipulators. It will provide 45 periods over 5 units to educate students on topics like various manipulators, sensors, programming languages, position and orientation representation, degrees of freedom, Jacobian, singularity, force balance, path planning methods, and dynamic modeling and control of robots.

Uploaded by

ragupa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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IC6003 PRINCIPLES OF ROBOTICS LTPC

300 3
OBJECTIVES:
To introduce the functional elements of Robotics
To impart knowledge on the direct and inverse kinematics
To introduce the manipulator differential motion and control
To educate on various path planning techniques
To introduce the dynamics and control of manipulators

UNIT I BASIC CONCEPTS 9


Brief history-Types of RobotTechnology-Robot classifications and specifications-Design and control
issues- Various manipulators Sensors - work cell - Programming languages.

UNIT II DIRECT AND INVERSE KINEMATICS 9


Mathematical representation of Robots - Position and orientation - Homogeneous
transformation-Various joints- Representation using the Denavit Hattenberg parameters -Degrees of
freedom-Direct kinematics-Inverse kinematics-PUMA560 & SCARA robots- Solvability - Solution
methods-Closed form solution.

UNIT III MANIPULATOR DIFFERENTIAL MOTION AND STATICS 9


Linear and angular velocities-Manipulator Jacobian-Prismatic and rotary jointsInverse -Wrist and
arm singularity - Static analysis - Force and moment Balance.

UNIT IV PATH PLANNING 9


Definition-Joint space technique-Use of p-degree polynomial-Cubic polynomial-Cartesian space
technique - Parametric descriptions - Straight line and circular paths - Position and orientation
planning.

UNIT V DYNAMICS AND CONTROL 9


Lagrangian mechanics-2DOF Manipulator-Lagrange Euler formulation-Dynamic model -Manipulator
control problem-Linear control schemes-PID control scheme-Force control of robotic manipulator.

TOTAL: 45 PERIODS

OUTCOMES:
Ability to understand and analyze Instrumentation systems and their applications to various
industries.

TEXT BOOKS:
1. R.K.Mittal and I.J.Nagrath, Robotics and Control,Tata McGraw Hill,New Delhi,4th Reprint, 2005.
2. JohnJ.Craig ,Introduction to Robotics Mechanics and Control, Third edition, Pearson Education,
2009.
3. M.P.Groover, M.Weiss,R.N. Nageland N. G.Odrej, Industrial Robotics, McGraw-Hill
Singapore, 1996.

REFERENCES:
1. Ashitava Ghoshal, Robotics-Fundamental Concepts and Analysis, Oxford University
Press, Sixth impression, 2010.
2. K. K.Appu Kuttan, Robotics, I K International, 2007.
3. Edwin Wise, Applied Robotics, Cengage Learning, 2003.
4. R.D.Klafter,T.A.Chimielewski and M.Negin, Robotic EngineeringAn Integrated Approach,
Prentice Hall of India, New Delhi, 1994.

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