## MR3691 Syllabus - Robotics - 2021 Regulation Anna University

MR3691

ROBOTICS

L T P C

3003

COURSE OBJECTIVES:
1. To learn about basics of robots and their classifications
2. To understand the robot kinematics in various planar mechanisms
3. To learn about the concepts in robot dynamics
4. To understand the concepts in trajectory planning and programming
5. To know about the various applications of robots

UNIT I

BASICS OF ROBOTICS

8

Introduction- Basic components of robot-Laws of robotics- classification of robot- robot architecture, work space-accuracy-resolution –repeatability of robot.

UNIT II

ROBOT KINMEATICS

11

Robot kinematics: Introduction- Matrix representation- rigid motion & homogeneous transformation- D-H, forward & inverse kinematics of 2DOF and 3 DOF planar and spatial mechanisms

UNIT III

ROBOT DYNAMICS

9

Introduction - Manipulator dynamics – Lagrange - Euler formulation- Newton - Euler formulation

UNIT IV

TRAJECTORY, PATH PLANNING AND PROGRAMMING

8

Trajectory Planning- Joint space and Cartesian space technique, Introduction to robot control, Robot programming and Languages- Introduction to ROS

UNIT V

ROBOT AND ROBOT APPLICATIONS

9

Sensors and Actuators for Robots, Power transmission systems, Rotary to rotary motion, Rotary to linear motion, Harmonics drives – gear system - belt drives. Robot end effectors & Grippers: Introduction- types & classification- Mechanical gripper- gripper force analysis- other types & special purpose grippers. Robot Applications: pick and place, manufacturing, automotive, medical, space and underwater.

TOTAL: 45 PERIODS

COURSE OUTCOMES:Upon completion of this course, the students can able to
CO1: State the basic concepts and terminologies of robots
CO2: Know the Procedures for Forward and Inverse Kinematics, Dynamics for Various Robots
CO3: Derive the Forward and Inverse Kinematics, Dynamics for Various Robots
CO4: Apply the various programming techniques in industrial applications
CO5: Analyze the use of various types of robots in different applications

TEXT BOOKS:
1. John.J.Craig, " Introduction to Robotics: Mechanics & control", Pearson Publication, Fourth edition, 2018.
2. K.S.Fu, R.C.Gonzalez, C.S.G.Lee, "Robotics: Sensing, Vision & Intelligence", Tata McGraw-Hill Publication, First Edition, 1987.

REFERENCES:
1. M.P.Groover, M.Weiss ,R.N. Nagal, N.G.Odrey, "Industrial Robotics - Technology, programming and Applications" Tata , McGraw-Hill Education Pvt Limited 2ndEdition, 2012.
2. Jazar, "Theory of Applied Robotics: Kinematics, Dynamics and Control", Springer, 2ndEdition, 2010
3. S K Saha, Introduction to Robotics, Tata McGraw-Hill, ISBN: 9789332902800, Second Edition, 9789332902800
4. Sathya Ranjan Deb, "Robotics Technology & flexible Automation" Second edition, Tata McGraw-Hill Publication, 2009.