Scribd Logo
Upload

Welcome to Scribd!

  • 401 views

    2

    Uploaded by

    ragupa
    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.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    2

    Uploaded by

    ragupa
    401 views1 page
    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.

    Original Description:

    ef

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    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.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    401 views1 page

    2

    Uploaded by

    ragupa
    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.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 1

    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.

    102

    You might also like