06ME766-Robotics |
PART – A |
UNIT I: |
INTRODUCTION AND MATHEMATICAL REPRESENTATION OFROBOTS: History of Robots, Types of Robots, Notation, Position and
Orientation of a Rigid Body, Some Properties of Rotation Matrices,
Successive Rotations, Euler Angles For fixed frames X-Y-Z and moving
frame ZYZ. Transformation between coordinate system, Homogeneous
coordinates, Properties of A T
B , Types of Joints: Rotary, Prismatic joint,
Cylindrical joint, Spherical joint, Representation of Links using Denvit-
Hartenberg Parameters: Link parameters for intermediate, first and last links,
Link transformation matrices, Transformation matrices of 3R manipulator,
PUMA560 manipulator, SCARA manipulator
|
UNIT II: |
KINEMATICS OF SERIAL MANIPULATORS: Direct kinematics of 2R,
3R, RRP, RPR manipulator, puma560 manipulator, SCARA manipulator,
Stanford arm, Inverse kinematics of 2R, 3R manipulator, puma560
manipulator.
|
UNIT III: |
VELOCITY AND STATICS OF MANIPULATORS: Differential
relationships, Jacobian, Differential motions of a frame (translation and
rotation), Linear and angular velocity of a rigid body, Linear and angular
velocities of links in serial manipulators, 2R, 3R manipulators, Jacobian of
serial manipulator, Velocity ellipse of 2R manipulator, Singularities of 2R
maipulators, Statics of serial manipulators, Static force and torque analysis of
3R manipulator, Singularity in force domain.
|
UNIT IV: |
DYNAMICS OF MANIPULATORS: Kinetic energy, Potential energy,
Equation of motion using Lagrangian, Equation of motions of one and two
degree freedom spring mass damper systems using Lagrangian formulation,
Inertia of a link, Recursive formulation of Dynamics using Newton Euler
equation, Equation of motion of 2R manipulator using Lagrangian, Newton-
Euler formulation.
|
PART – B |
UNIT V: |
TRAJECTORY PLANNING: Joint space schemes, cubic trajectory, Joint
space schemes with via points, Cubic trajectory with a via point, Third order
polynomial trajectory planning, Linear segments with parabolic blends,
Cartesian space schemes, Cartesian straight line and circular motion planning
|
UNIT VI: |
CONTROL: Feedback control of a single link manipulator- first order,
second order system, PID control, PID control of multi link manipulator,
Force control of manipulator, force control of single mass,Partitioning a task
for force and position control- lever, peg in hole Hybrid force and position
controller
|
UNIT VII: |
ACTUATORS: Types, Characteristics of actuating system: weight, powerto-
weight ratio, operating pressure, stiffness vs. compliance, Use of reduction
gears, comparision of hydraulic, electric, pneumatic actuators, Hydraulic
actuators, proportional feedback control, Electric motors: DC motors,
Reversible AC motors, Brushles DC motors, Stepper motors- structure and
principle of operation, stepper motor speed-torque characteristics
|
UNIT VIII: |
SENSORS: Sensor characteristics, Position sensors- potentiometers,
Encoders, LVDT, Resolvers, Displacement sensor, Velocity sensorencoders,
tachometers, Acceleration sensors, Force and Pressure sensors –
piezoelectric, force sensing resistor, Torque sensors, Touch and tactile
sensor, Proximity sensors-magnetic, optical, ultrasonic, inductive, capacitive,
eddy-current proximity sensors.
|
REFERENCE |
TEXT BOOKS: |
1. Fundamental Concepts and Analysis, Ghosal A., Robotics,
Oxford,2006
2. Introduction to Robotics Analysis, Systems, Applications, Niku,
S. B., Pearso Education, 2008
|
Reference Books |
1. Introduction to Robotics: Mechanica and Control, Craig, J. J.,
2nd Edition, Addison-Welsey, 1989.
2. Fundamentals of Robotics, Analysis and Control, Schilling R. J.,
PHI, 2006
|
|