MEC541:ROBOTICS

Course Outcomes: Through this course students should be able to

CO1 :: list down the robot classfification and programming Languages.

CO2 :: discuss the Coordinate frames, Mapping between frames,Description of objects in space
and Transformation of Vectors

CO3 :: solve the Problems on links and joints, Kinematic relation between adjacent links and
Manipulator transformation matrix
CO4 :: explain the Manipulator workspace and Solving of inverse Kinematic model.

CO5 :: assess the Linear and angular velocity of a rigid bodis by using different solving methods.

CO6 :: summarize the fundamental concepts of Actuators and Sensors for robotics applications.

Unit I
Introduction to robotics : Introduction to robots and robotics, Development of robots, Robot
anatomy, Degrees of freedom, Robot classifications, Programming of robots, Various programming
languages in robotics, Design and control issues in robotics, Applications of robotics in industry and
other fields
Unit II
Coordinate Frames and Transformations : Coordinate frames, Mapping between frames,
Description of objects in space, Transformation of Vectors, Inverting a homogenous transform,
Fundamental Rotation matrices, Equivalent angle axis representation
Unit III
Direct Kinematics : Description of links and joints, Kinematic modelling, DH Notations, Kinematic
relation between adjacent links, Manipulator transformation matrix
Unit IV
Inverse Kinematics : Manipulator workspace, Solving of inverse Kinematic model, Existence of
solutions and multiple solutions, Solution Techniques, Closed form Solutions, Guidelines for Closed
form Solutions
Unit V
Differential Motion and Statics : Linear and angular velocity of a rigid body, Relation between
transformation matrix and angular velocity, Mapping velocity vector, Velocity propagation along a
link, Manipulator Jacobian, Jacobian Inverse, Jacobian singularities, Static Analysis
Unit VI
Actuators and Sensors : Hydraulic and pneumatic actuator, DC Motor, Stepper motor, Servo motor,
AC motor, Sensors in robotics, Optical encoders, Choosing the right sensor, Robotic vision

Text Books:
1. ROBOTICS AND CONTROL by R. K. MITTAL, I. J. NAGRATH, MCGRAW HILL EDUCATION

References:
1. INTRODUCTION TO ROBOTICS: ANALYSIS, CONTROL, APPLICATIONS by SAEED B.NIKU,
WILEY
2. INTRODUCTION TO ROBOTICS by S K SAHA, MCGRAW HILL EDUCATION

3. INDUSTRIAL ROBOTICS: TECHNOLOGY, PROGRAMMING AND APPLICATIONS by

NICHOLAS ODREY, MITCHELL WEISS, MIKELL GROOVER, ROGER N NAGEL, ASHISH DUTTA,
MCGRAW HILL EDUCATION
4. INTRODUCTION TO ROBOTICS: MECHANICS AND CONTROL by JOHN J. CRAIG, PEARSON

Session 2021-22 Page:1/1