Course

Robot types, trends, applications, classification – Anatomy and Architecture of Manipulators

• Mobile Robots – Advanced Robots – Holonomic and Non-holonomic Robots – transformations – Quaternions – Robot Kinematics: Forward and Inverse – Manipulator Jacobian – Force relations – Multi-body Dynamics: Forward and Inverse – Lagrange-Euler Dynamic Model – Recursive Newton-Euler Formulation – Trajectory planning in Joint space and Cartesian space – MATLAB/Robo Analyzer Simulations of Kinematic and Dynamic

Learning Objectives

LO1    To Understand various robot classifications, specifications, and applications.

LO2    To familiarize with forward and inverse kinematics of robotics

LO3    To develop a dynamic robot system.

Course Outcomes

CO1    Apply coordinate transformations to map position and orientation coordinates from
             end effector to robot base.
CO2    Apply forward and inverse kinematics to manipulate objects by robots.

CO3    Analyse forward and inverse dynamics to manipulate objects by robots.

CO4    Construct simulations in Bioanalyzer/MATLAB to verify kinematics and dynamics of
            robots.

CO-PO Mapping

Textbooks/References:

1. S K Saha, “Introduction to Robotics”, 2nd edition, McGraw Hill Education (India) Pvt. , 2014.
2. Robert J Schilling, “Fundamentals of Robotics, Analysis and Control”, Prentice Hall,

2007.

3. Reza N Jazar, “Theory of Applied Robotics: Kinematics, Dynamics and Control”, 2nd

Ed. Springer, 2010.

4. Peter Corke, “Robotics, Vision, and Control: Fundamental Algorithms in MATLAB”, Springer,
5. John J Craig, “Introduction to Robotics: Mechanics and Control”, Pearson,
6. K S Fu, et al, “Robotics: Control, Sensing, Vision and Intelligence”, Tata McGraw Hill,

2008.

7. Springer Handbook of Robotics, B Siciliano, O Khatib, editors, 2nd , Springer, 2016.