IC6003 PRINCIPLES OF ROBOTICS
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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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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 Robot–Technology-Robot classifications and specifications-Design and control issues- Various manipulators – 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 joints–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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