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

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