## RO8591 - PRINCIPLES OF ROBOTICS (Syllabus) 2017-regulation Anna University

RO8591

PRINCIPLES OF ROBOTICS

LPTC

3003

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 Robot–Technology-Robot classifications and specifications-Design and controlissues- 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- 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 joints–Inverse -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 basic concept of robotics.
• To analyze Instrumentation systems and their applications to various
• To know about the various path planning techniques.
• To know about the dynamics and control in robotics 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 Engineering–An Integrated Approach, Prentice Hall of India, New Delhi, 1994.
5. B.K.Ghosh, Control in Robotics and Automation: Sensor Based Integration, Allied Publishers,Chennai, 1998.
6. S.Ghoshal, “ Embedded Systems & Robotics” – Projects using the 8051 Microcontroller”, Cengage Learning, 2009.