## RA3301 Syllabus - Robot Kinematics - 2021 Regulation Anna University

RA3301

ROBOT KINEMATICS

LTPC

3003

COURSE OBJECTIVES:
• To introduce Robots history, terminologies, classification and configurations.
• To get knowledge about basic Geometrical and Algebraic approach to solve forward kinematics of serial manipulator
• To get knowledge about inverse kinematics of various serial manipulator.
• To get knowledge about Jacobian aspects and infinitesimal motion of robot mechanisms.

UNIT I

OVERVIEW OF ROBOTICS

9

Introduction to Robotics - History - Definitions - Law of Robotics – Terminologies - Classifications Overview – Links & Joints - Degrees of Freedoms - Coordinate Systems - Work Volume - Precision, Repeatability & Accuracy - Position and Orientation of Objects - Roll, Pitch and Yaw Angles - Joint Configuration of Five Types of Serial Manipulators - Wrist Configuration- Overview of end effector - Selection and Application of Serial Manipulators.

UNIT II

FORWARD KINEMATICS - GEOMETRICAL AND ALGEBRAIC APPROACH

9

Need for forward and Inverse Kinematics Equation – Parameters in Design and Control – Methods of forward and inverse kinematics- Geometrical and Algebraic Approach in Forward Kinematics Solution, 1 DOF - 2 DOF Planar Robot (2P and 2R); 3DOF 2RP Spatial Robot.

UNIT III

FORWARD KINEMATIC MODELING – DENAVIT-HARTEBERG (DH) APPROACH

9

Unit Circle Trigonometry - Translation Matrix - Rotation matrix, Euler Angles - Quaternion Fundamental - Dot and Cross Products - Frames and Joint Coordinates - Homogeneous Transformation - D-H and Modified D-H Convention and Procedures – Forward kinematics Solution using D-H Convention: 3 DOF wrist , RR Planar, 3 DOF RRP, Cartesian, Cylindrical, Spherical , SCARA and Articulated 3 DOF robots - 3 DOF robot with wrist.

UNIT IV

INVERSE KINEMATICSMODELING

9

Introduction to inverse kinematics -Issues in inverse kinematics - Inverse kinematics of 2 DOF Planar robot - 2 and 3DOF planar and Spatial robot - Tool configuration - Inverse kinematics of 3 axis robot and 6 axis Robot - Inverse kinematics Computation- Closed loop solution

UNIT V

KINEMATIC MODELING OF DIFFERENTIAL DRIVE ROBOT

9

Degree of Mobility, Steerability and Maneuverability- Mobile Robot kinematics - Kinematic model and constraints, Mobile robot workspace – Representation of robot position – Kinematic models of differential wheel drive - Fixed wheel and steered wheel - Mobile manipulators and its applications – swarm robots.

TOTAL : 45 PERIODS

COURSE OUTCOMES: At the end of the course students able to
CO 1: Explain the history, classifications, and basic terminologies of robotics and various configuration of robots.
CO 2: Evaluate forward kinematic model for planar and spatial robot manipulator.
CO 3: Evaluate forward kinematic model for multi-DOF robot manipulators.
CO 4: Evaluate inverse kinematic model for multi-DOF robot manipulators.
CO 5: Evaluate forward kinematic model for differential drive mobile robot.

TEXT BOOKS:
1. Mikell P. Groover, "Industrial Robotics", McGraw Hill, 2nd edition, 2012.
2. John J. Craig, “Introduction to Robotics”, 3rd Edition, Addison Wesley, ISE 2008.
3. Lynch, Kevin M., and Frank C. Park. Modern Robotics: Mechanics, Planning, and Control 1st ed. Cambridge University Press, 2017.

REFERENCES:
1. S K Saha, Introduction to Robotics, Tata McGraw-Hill, Second Edition, 2017.
2. Mikell P. Groover, "Industrial Robotics", McGraw Hill, 2nd edition, 2017.
3. Arthor Critchlow, “Introduction to Robotics”, 1st edition, Macmillan, 2009.
4. Mohsen Shahinpoor, “A Robot Engineering Text Book”, 1st edition, Harper and Row, 2004.
5. Deb S.R., “Robotics Technology and Flexible Automation”, 2nd edition, Tata McGraw - Hill Publis Robotics: Control and Programming.
6. J. Srinivas, R. V. Dukkipati, K., “Robotics: Control and Programming”, Narosa Publishing House, 2009.
7. Tsuneo Yohikwa, Foundations of Robotics Analysis and Control, Prentice Hall of India Pvt. Ltd., 2001 8. Bijay K. Ghosh, Ning Xi, T.J. Tarn, Control in Robotics and Automation Sensor - Based integration, Academic Press, 1999.