MECHATRONICScoretheorySem 3
MECHANICS OF ROBOTICS SYSTEMS
MTE 2124
Syllabus
- 01Introduction to robotics - types and specification of robots, DoF, configurations, control resolution, spatial resolution, accuracy and repeatability, actuators and sensors, drives and transmission systems used in robotics
- 02Kinematic analysis & coordinate transformation - Direct kinematic problem in robotics, homogeneous transformation matrices, joint space, cartesian space, Denavit-Hartenberg method, Inverse manipulator kinematics solvability, robot kinematics constraints, robot workspace, holonomic robots, Jacobian matrix, Jacobian singularity
- 03Trajectory generation - general considerations in path description and generation, joint-space schemes, cartesian-space schemes
- 04Manipulator dynamics - Newton's equation, Euler's dynamic formulation, iterative vs. closed form, Lagrangian Formulation of Dynamics, Introduction to 3D rigid body dynamics: The Inertia Tensor
- 05Kinematic modeling of planar and spatial parallel manipulators, Closed-loop equation, four-bar and slider-crank mechanism, Stewart platform
- 06Feedback and closed-loop control (SISO & MIMO), second-order linear systems, Case studies
- 07Self-study: Kinematic configurations of industrial robots, case studies on different industrial manipulator working principles and applications or mini project
References
- John J. Craig, Introduction to Robotics: Mechanics and Control, (3e), PHI, 2005
- C. Peter., Robotics, Vision and Control: Fundamental Algorithms in MATLAB. Vol. 73. Springer, 2011
- G. Ashitava, Robotics: Fundamental Concepts and Analysis, Oxford University Press, 2006
- Murray, Richard M., Zexiang Li, S. Shankar Sastry, and S. ShankaraSastry, A Mathematical Introduction to Robotic Manipulation, CRC press, 1994
- S. Bruno and O. Khatib, EDS: Springer handbook of Robotics, Springer, 2016
- Mittal, R. K., and I. J. Nagrath. Robotics and control. Tata McGraw-Hill, 2003
- Niku, Saeed B. Introduction to robotics: analysis, control, applications. John Wiley & Sons, 2020
Credits Structure
2Lecture
1Tutorial
0Practical
3Total