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Department | Electrical and Electronics Engineering |

Year | 3rd Year |

Semester | 6th Semester |

University | Anna University |

Regulation | R2017 |

Subject Code | RO8591 |

Subject Name | PRINCIPLES OF ROBOTICS |

Download File | RO8591 PRINCIPLES OF ROBOTICS Lecture Notes, Books, Important 2 Marks Question and Answers, 16 Mark Question with Answers, Syllabus & Question Bank |

## RO8591 PRINCIPLES OF ROBOTICS Syllabus

UNIT I BASIC CONCEPTS

Brief history-Types of Robot–Technology-Robot classifications and specifications-Design and controlissues- 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- 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.

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## RO8591 PRINCIPLES OF ROBOTICS Lecture Notes Collection

RO8591 PRINCIPLES OF ROBOTICS Notes ( UNIT 1 – UNIT 5) – Download

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RO8591 PRINCIPLES OF ROBOTICS Question Bank With Answers – Download

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