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# IC6003 PRINCIPLES OF ROBOTICS | Impotent Questions | Question bank | Syllabus | Model and Previous Question papers | Download PDF

## IC6003 PRINCIPLES OF ROBOTICS

Subject Informations :

University  :  Anna University
Department  : B.E. ELECTRONICS AND INSTRUMENTATION ENGINEERING
Semester  : 08 th
Year  : 04 th year  ( Final Year )
Regulation  : R2013
Subject Code  : IC6003
Subject Name  :  PRINCIPLES OF ROBOTICS

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IC6003 PRINCIPLES OF ROBOTICS | Impotent  Questions

IC6003 – PRINCIPLES OF ROBOTICS SYLLABUS

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

Brief history-Types of Robotâ€“Technology-Robot classifications and specifications-Design and control issues- Various manipulators â€“ Sensors – work cell – Programming languages.

UNIT II DIRECT AND INVERSE KINEMATICS

Mathematical representation of Robots – Position and orientation – Homogeneous transformation-Various joints- Representation using the Denavit Hattenberg parameters -Degrees of freedom-Direct kinematics-Inverse kinematics-PUMA560 & SCARA robots- Solvability – Solution methods-Closed form solution.

UNIT III MANIPULATOR DIFFERENTIAL MOTION AND STATICS

Linear and angular velocities-Manipulator Jacobian-Prismatic and rotary jointsâ€“Inverse -Wrist and arm singularity – Static analysis – Force and moment Balance.

UNIT IV PATH PLANNING

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

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 and analyze Instrumentation systems and their applications to various industries.

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