Birla Institute of Technology & Science, Pilani

Work Integrated Learning Programmes Division

M. Tech. Design Engineering
Digital Learning Handout
Part A: Content Design
Course Title Mechanisms and Robotics
Course No(s) DE ZG561 / ES ZG561/DM ZG561
Credit Units 5
Credit Model 32-32-32
(32 Hours of Class-room Instruction + 32 Hours of
Case-studies/Tutorials/Laboratories + 32 Hours of Student Preparation)
Instructor Dr. GLYNN JOHN S.

Version No: 4
Date: 10 – Jan - 2025

Course Description: This course is intended to provide a comprehensive knowledge of the

technology related to robotics. The necessity of human like machines to replace human beings
from the work-sites have been long felt for a large variety of reasons.
The course will develop overall background of the student in interdisciplinary robotic
technology with emphasis on mechanical aspects. Mechanisms which can be used in robots,
their characteristics, kinematic and dynamic analysis and design will be discussed in detail along
with the issues, applications and implementation principles of industrial robotics.

Course Objectives
No Course Objective
To help the students do the following
CO1 Learn the basics of robotics and understand its necessity in the industrial world.
CO2 Apply mathematical modeling methods in the analysis of industrial manipulators.
CO3 Learn the effects of dynamic forces in a robotic manipulator.
CO4 Understand the role various sensors and actuators in robotics motion and its control
system, thereby, understand the system integration with both mechanical and
electrical/electronic control systems.
CO5 Learn the fundamentals of programming of an industrial manipulator.

Text Book(s):
T1 Robert J., Schilling, Fundamentals of Robotics: Analysis and Control, Prentice Hall, NJ, 2002.
T2 Saeed B. Niku, Introduction to Robotics: Analysis, Control and Applications. Wiley 2017.
Reference Book(s) & other resources:

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 R1 Groover, M. P., et al., Industrial Robotics, MGHISE, 1986.
R2 Fu, K. S., et al., Robotic: Control, Sensing, Vision & Intelligence, MGHISE, 1987.
R3 Kevin M. Lynch, Frank C. Park, Modern Robotics: Mechanics, Planning, And Control,
Cambridge English; 1st edition (1 January 2017).
R4 John Joseph Uicker, G. R. Pennock, Joseph Edward Shigley, Theory of Machines and
Mechanisms, Oxford University Press, 2003

Learning Outcomes: Students will be able to

LO1 Identify Manipulators and select suitable manipulators for given applications.
LO2 Mathematically model and solve forward and inverse kinematics problems for a
given manipulator.
LO3 Calculate static and dynamic forces acting on a given manipulator under the given
conditions.
LO4 Apply the concepts of digital control using a feedback loop for controlling actuators.
LO5 Apply the fundamentals of robot programming in a programming environment.

Part B: Learning Plan

Contact List of Topic Title Sub-Topics Reference
Session
 Introduction Class Notes
 Automation and Robotics R1: Chapter: 1
 Robotics in Science Fiction
Fundamentals of
1  Progressive Advancement
Robot Technology
 The Robotics trends and the future
prospects
 Human arm characteristics
2 Robot Anatomy  Links, Joints and Joint Notation R1: Chapter: 2
scheme T1: Chapter: 1
 Degrees of Freedom (DOF)
 Required DOF in a Manipulator
 Arm Configuration
 Wrist Configuration
 The End-effector (EE)
 Design & Control issues
 Precision of Movement
 Manipulation & Control
 Robot specification
 Bio-mimic robots

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  Mechanisms R3: Chapter: 2
 Spatial Mechanism Class Notes.
Analysis &
 Four bar planar and Spatial
3 modelling of Mechanism
mechanisms  Mathematical models of simple
mechanisms

 Introduction to co-ordinate frames T1: Chapter: 2

mapping Section: 2.1 – 2.5
 Mapping between Rotated frames Class Notes.
 Mapping between Translated
frames
 Mapping between Rotated &
Translated frames.
Manipulator  Description objects in space
4  Transformation of vectors -
Frame Analysis
Rotation & Translation of vectors
 Composite transformations.
 Inverting a Homogeneous
Transform
 Fundamental Rotation Matrices –
Principal axes Rotation fixed
 Euler and Equivalent angle axis
Representations

 The Kinematic Modelling of T1: Chapter: 2

Manipulator Section: 2.6 – 2.9
 Direct kinematics model Class Notes.
Manipulator mechanical structure & Notations
modelling – Direct Description of links & Joints
5, 6  Denavit – Hertenberg Notation
Kinematics  Kinematic Relationship between
links
 Manipulator transformation matrix
 Examples of direct Kinematics

7, 8 Manipulator  The Inverse kinematics T1: Chapter: 3

modelling – Inverse manipulator Class Notes.
 Solvability of inverse kinematic
Kinematics model
 Solution techniques
 Closed form solutions

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  Examples of inverse kinematics
 Singularities of manipulators
 The meaning of sensing R1: Chapter: 6
 Sensors in Robotics kinds of Section: 6.1 – 6.6
sensors used in Robotics R2: Chapter: 6
 Tactile sensors Force-Torque
sensors
 Introduction to machine vision
Robotics sensors  Industrial application of vision
9
controlled Robotic systems
 Image processing and Analysis
 Architecture of Robotic vision
systems
 Description of other components of
vision system.

 Linear and angular velocity of a T1: Chapter: 5

rigid body Section: 5.1- 5.6
Differential  Relationship between transformation
10 Kinematics matrix and angular velocity
 Mapping velocity vectors along
links

Differential  Manipulator Jacobian T1: Chapter: 5

Kinematics –  Jacobian Inverse Section: 5.7- 5.8
 Jacobian singularities
11 Manipulator  Static Analysis.
Jacobian  Examples

 Introduction T2: Chapter: 4

 Lagrangian Mechanics T1: Chapter: 6
 Lagrange–Euler (LE) formulation
Dynamic modelling
12, 13  The Lagrangian-Euler (LE) Class Notes.
Dynamic model algorithm
 Newton-Euler (NE) Formulation
 Examples on dynamic modelling.
 Introduction T2 Chapter: 5
Trajectory planning  Joint space technique Section: 5.1 – 5.7
14
 Coordinate space technique
 Examples
15  Control of movements of T2: Chapter: 6
Control of mechanical joints control sequence R2: Chapter: 5

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  Multi- joints manipulator control
system
Manipulators  System performance
 Control system with damping
 Control strategy
 Architecture of control systems
 The Interaction of EE with Class Notes
Environment – Assembly R1: Chapter: 8
 Task Frame Compliances R1: Chapter:
o Active/Passive Compliance 11,13 and 20.
o Methods providing
Compliance
Robot Application o RCC device
 Optimization position definitions
16 and Programming  Interpolation language command
o Data object command
o Motion commands
o Gripper command
o Tool commands
o Sensors command
o Other commands
 Writing programs for different tasks

Experiential Learning Components:

Describe objective, outcome of Experiential Learning Component and the lab infrastructure needed
(virtual, remote, open source etc..) number of lab exercises needed, etc.
1. Lab work: Remote Lab using MATLAB.
2. Project work: None.
3. Case Study: None.
4. Simulation: Remote Lab using MATLAB.
5. Work Integrated Learning Assignment: None.
6. Design work/ Field work: None.

Objective of Experiential Learning Component:

To Mathematically model forward and inverse kinematics equations and visualize arm positions based on
given inputs.

Scope of Experiential Learning Component:

 Mathematical Modelling of Forward Kinematics Problems of different manipulators using

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 MATLAB.

 Mathematical Modelling of Inverse Kinematics Problems of different manipulators using

MATLAB.

 3D Plotting of Manipulator positions and simulation of robot movement for input target locations.

Lab Infrastructure: MATLAB (Student Version)

List of Experiments:

Exp No. Experiment Title Reference to

handout
module/section
1. Rotation of a frame Session 4
2. Forward kinematics: 2 dof Planar manipulator Session 5, 6
3. Forward kinematics: 3 dof Cylindrical manipulator Session 5, 6
4. Forward kinematics: 3 dof Articulated Manipulator Session 5, 6
5. Forward Kinematics: 3 dof Polar Robot Session 5, 6
6. Inverse Kinematics of a 2 dof R-Theta Planar Arm Session 7, 8
7. Inverse Kinematics of a 2 dof RR Planar Robot Session 7, 8
8. Inverse Kinematics of a 3 dof Cylindrical Robot Session 7, 8
9. Inverse Kinematics of a 3 dof Articulated Robot Session 7, 8
10. Inverse Kinematics of a SCARA Arm Session 7, 8
11. Navigating through a sequence of points Session 7, 8

Evaluation Scheme:

Legend: EC = Evaluation Component; AN = After Noon Session; FN = Fore Noon Session

Evaluation Name Type (Open Weight Duration Day, Date,

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 Component (Quiz, Lab, Project, Mid- book, Session, Time
term exam, End semester Closed
exam, etc.) book,
Online, etc.)
Assignment - I Online 5% 2 Weeks February 17-27,
EC – 1 2025
Assignment - 2/ Online 5% 2 Weeks April 1-10, 2025
Situational Learning
Assignment
Lab Assignment / Lab Online 20 % 10 days TBA
Exams
Mid-Semester Test Closed 30% 2 hours 21/03/2025
EC - 2
Book (FN)
Comprehensive Exam Open Book 40% 2½ 23/05/2025
EC - 3 Hours (FN)

EC1* (20% - 30%): Quiz (optional): 5-10 %, Lab Assignment/Assignment: 20% - 30%
Syllabus for Mid-Semester Test (Closed Book): Topics in Contact session: 1 to 8
Syllabus for Comprehensive Exam (Open Book): All topics

Important Links and Information:

eLearn Portal: https://elearn.bits-pilani.ac.in
Students must visit the eLearn portal regularly and stay updated with the latest announcements
and deadlines.
Contact Sessions: Students should attend the online lectures as per the schedule provided on the
eLearn portal.
Evaluation Guidelines:
1. EC-1 consists of either two Assignments or three Quizzes. Students will attempt them
through the course pages on the eLearn portal. Announcements will be made on the portal
in a timely manner.
2. For Closed Book tests: No books or reference material of any kind will be permitted.
3. For Open Book exams: “open book” means text/ reference books (publisher copy only) and
does not include any other learning material. No other learning material will be permitted
during the open book examinations. For Detailed Guidelines refer to the attached document.
EC3 Guidelines
4. If a student is unable to appear for the Regular Test/Exam due to genuine exigencies, the
student should follow the procedure to apply for the Make-Up Test/Exam, which will be
made available on the eLearn portal. The Make-Up Test/Exam will be conducted only at
selected exam centres on the dates to be announced later.
It shall be the responsibility of the individual student to be regular in maintaining the self-study
schedule as given in the course handout, attend the online lectures, and take all the prescribed
evaluation components such as Assignments/Quizzes, Mid-Semester Tests and Comprehensive
Exams according to the evaluation scheme provided in the handout.

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