19RME502 PRINCIPLES OF ROBOTICS LT PC

(Lab Embedded Theory Course) 3 0 2 4

COURSE OBJECTIVES
The student should be made to:

 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 manipulator
 To introduce different types of robotics and demonstrate them to identify different parts and
components.

THEORY PART:
UNIT I BASIC CONCEPTS 9
Brief history-Types of Robot–Technology-Robot classifications and specifications-Design and
Control issues- 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.

III
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
LABORATORY PART:

LIST OF EXPERIMENT
1. Determination of maximum and minimum position of links.

2. Verification of transformation (Position and orientation) with respect to gripper and world
coordinate system

3. Estimation of accuracy, repeatability and resolution.

4. Robot programming and simulation for pick and place

5. Robot programming and simulation for Colour identification

6. Robot programming and simulation for Shape identification

7. Robot programming and simulation for machining (cutting, welding)

8. Robot programming and simulation for writing practice

9. Robot programming and simulation for any industrial process ( Packaging, Assembly)

10. Robot programming and simulation for multi process.

TOTAL: 45 + 15=60 PERIODS

COURSE OUTCOMES
Upon Completion of the course, the students will be ability to:
 To analyze Instrumentation systems and their applications to various
 To know about the differential motion add statics in robotics
 To know about the various path planning techniques.
 To know about the dynamics and control in robotics industries.
 Use of any robotic simulation software to model the different types of robots and calculate
work volume for different robots.

IV
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.

V
 DEPARTMENT ROBOTICS AND AUTOMATION

LECTURE PLAN

Subject Code : 19RME502

Subject Name : Principles Of Robotics.

Name of Faculty : Mrs.M.E.Dhivya M.E.,

Designation : Assistant Professor/ R&A

Course : B.E (Vth Semester)

Academic year : 2024 - 2025 (Odd Semester)

Recommended Text books/Reference books

S.No Title of the book Author Reference

1 Robotics and Control R.K.Mittal and I.J.Nagrath T1

2 Introduction to Robotics Mechanics and J.John Craig , T2

Control
3 Industrial Robotics M.P.Groover, M.Weiss T3

4. Robotics-Fundamental Concepts and Ashitava Ghoshal R1

Analysis.
5 Robotics K. K.Appu Kuttan, R2

Robotic Engineering–An Integrated R.D.Klafter,T.A.Chimielewski

6 R3
Approach and M.Negin

VI
 TEACHING NO. OF
LECTURE TOPIC SOURCE
AIDS HOURS
UNIT I
BASIC CONCEPTS
T1 – Ch1 Chalk &
1. Brief history 1
R2 – Ch1 Talk
T2 – Ch2 Chalk &
2. Types of Robot 1
R2 – Ch1 Talk
T2 – Ch3 Chalk &
3. Technology 1
R2 – Ch1, Talk
T2 – Ch3, Chalk &
4. Robot classifications and specifications Talk 1
R2 – Ch1
T1 – Ch2, Chalk &
5. Design and Control issues Talk 1
R2 – Ch1
T1 – Ch2, Chalk &
6. Various manipulators Talk 1
R2 – Ch1

7. Sensors R2 – Ch1 PPT 1

Work cell Chalk &

8. T1 – Ch1 1
Talk

Programming languages T1 – Ch2, Chalk &

9. 1
R2 – Ch1 Talk
UNIT II
DIRECT AND INVERSE KINEMATICS

Mathematical representation of Robots T1 – Ch1 Chalk &

10. 1
R2 – Ch1 Talk
T2 – Ch2 Chalk &
11. Position and orientation 1
R2 – Ch1 Talk
Homogeneous transformation Various T2 – Ch3 Chalk &
12. 1
joints R2 – Ch1, Talk

Representation using the Denavit T2 – Ch3, Chalk &

13. Talk 1
Hattenberg parameters R2 – Ch1
T1 – Ch2, Chalk &
14. Degrees of freedom Talk 1
R2 – Ch1

15. Direct kinematics T1 – Ch2, R2 Chalk&Talk 1

VII
 T1 – Ch1 Chalk &
16. Inverse kinematics 1
R2 – Ch1 Talk
T2 – Ch2 Chalk &
17. SCARA robots, Solvability 1
R2 – Ch1 Talk

Solution method, Closed form solution. T2 – Ch3 Chalk &

18. 1
R2 – Ch1, Talk

TEACHING NO. OF
LECTURE TOPIC SOURCE
AIDS HOURS
UNIT III
MANIPULATOR DIFFERENTIAL MOTION AND STATICS

Linear and angular velocities T.3-Ch14 Chalk &

19. 1
R2 – Ch3 Talk
T3-Ch14 Chalk &
20. Manipulator Jacobian 1
R3 – Ch3 Talk
T3-Ch8 Chalk &
21. Prismatic joints. 1
R2 – Ch3 Talk
T2-Ch8 Chalk &
22. Rotary Joints. 1
R2 – Ch3 Talk
Chalk &
23. Inverse T2-Ch8 1
Talk

Wrist and arm singularity Chalk &

24. R3 – Ch3 1
Talk

Static analysis T.3-Ch14 Chalk &

25. 1
R2 – Ch3 Talk

Force Balance. T3-Ch14 Chalk &

26. 1
R3 – Ch3 Talk

Moment Balance T3-Ch8 Chalk &

27. 1
R2 – Ch3 Talk
UNIT IV
PATH PLANNING
T.3-Ch14 Chalk &
28. Definition-Joint space technique 1
R2 – Ch3 Talk
Chalk &
29. Use of p-degree polynomial T2-Ch8 1
Talk
T2-Ch11 Chalk & 1

VIII
 30. Cubic polynomial R2 – Ch3 Talk
T.3-Ch12 Chalk &
1
31. Cartesian space technique R2 – Ch3 Talk
T.2-Ch12 Chalk &
1
32. Parametric descriptions R2 – Ch3 Talk

T.3-Ch12 Chalk &

33. Straight line paths. 1
R2 – Ch3 Talk

T.3-Ch12 Chalk &

1
34. Circular Paths. R2 – Ch3 Talk
T.3-Ch12 Chalk &
1
35. Position Planning. R2 – Ch3 Talk
T.3-Ch12 Chalk &
1
36. Orientation Planning. R2 – Ch3 Talk

UNIT V
DYNAMICS AND CONTROL
TEACHING NO. OF
LECTURE TOPIC SOURCE
AIDS HOURS

T2-Ch7 Chalk &

37. Lagrangian mechanics 1
R2 – Ch4 Talk

T1-Ch10 Chalk &

1
38. 2DOF Manipulator R2 – Ch5 Talk
T1-Ch9 Chalk &
39. Lagrange Euler formulation 1
R2 – Ch5 Talk
Chalk &
40. Dynamic model T2-Ch1 1
Talk

41. Euler Formula T2-Ch10 ICT 1

Chalk &
42. Manipulator control problem T3-Ch12 Talk 1

43. Linear control schemes T3-Ch9 Chalk&Talk 1

44. PID control schemes. T3-Ch9 Chalk&Talk 1

IX
45. Force control of robotic manipulator T3-Ch9 Chalk&Talk 1

TOTAL HOURS 45
REVISION 05
TOTAL 50