Unit I

Robot types, trends, applications, classification – Anatomy and Architecture of Manipulators – Mobile Robots – Advanced Robots – Holonomic and Non-holonomic Robots

Unit II

Transformations – Quaternions – Mechanisms for Robotic Systems – Actuators for Robotic Systems

Unit III

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 models.

Unit IV

Introduction to Robot Control, Control schemes used for a robotic manipulator – PID control, computed-torque control, force control, gravity compensation, etc.

Course Description

This course provides an idea about the field of robotics, its construction and control mechanisms along with its various applications.

Course Objectives

• The main objective is to provide information on classification of robots and ideas in the fields of robotics.
• It also focuses on various kinematics and dynamics of robots, trajectory planning of robots
• To study the control of robots for some specific applications

Course Outcomes

• CO1: Understand various robot classifications, specifications and applications
• CO2: Apply coordinate transformations to map position and orientation coordinates from end effector to robot base
• CO3: Analyze forward and inverse kinematics to manipulate objects by robots
• CO4: Analyze forward and inverse dynamics to manipulate objects by robots
• CO5: Understand the control schemes used for robotic manipulators
• CO6: Construct simulations in Robo Analyzer/ Matlab to verify kinematics and dynamics of robots

CO-PO Mapping

1. S K Saha, “Introduction to Robotics”, 2nd edition, McGraw Hill Education (India) Pvt. Ltd., 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, 2013.
5. John J Craig, “Introduction to Robotics: Mechanics and Control”, Pearson, 2018.
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 Ed., Springer, 2016.