Course

Unit 1

Evolution of robotics. Robot anatomy – Design and control issues. Manipulation and Control – Sensors and Vision.

Coordinate frames. Mapping: Mapping between rotated frames – Mapping between translated frames – Mapping between rotated and translated frames – Description of objects in space – Transformation of vectors – Rotation – translation combined with rotation – translation of vectors – composite transformation – Inverting a homogenous transform – Fundamental rotational matrices.

Unit 2

Direct Kinematic Model – Mechanical structure and notations – Description of links and joints – Kinematic modeling of manipulator – Denavit-Hartenberg Notation – Kinematic Relationship between adjacent links – Manipulator Transformation Matrix.

Inverse Kinematic Model – Manipulator Workspace – Solvability – Solution techniques – Closed form solution.

Unit 3

• Mittal R. K. and Nagrath, I. J. – ‘Robotics and Control’ – Tata McGraw Hill Publishing Company Limited, New Delhi – 2004.
• Craig, J. – ‘Introduction to Robotics: Mechanics and Control’ – Prentice Hall – 2004 – 3rd Edition
• Peter Corke – ‘Robotics, Vision and Control: Fundamental Algorithms in MATLAB’ – Springer – 2009