Robot Kinematics detailed syllabus for Robotics & Automation Engineering (Robotics) for 2021 regulation curriculum has been taken from the Anna University official website and presented for the Robotics students. For course code, course name, number of credits for a course and other scheme related information, do visit full semester subjects post given below.
For Robotics & Automation Engineering 3rd Sem scheme and its subjects, do visit Robotics 3rd Sem 2021 regulation scheme. The detailed syllabus of robot kinematics is as follows.
Course Objectives:
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Unit I
OVERVIEW OF ROBOTICS 9 Introduction to Robotics – History – Definitions – Law of Robotics – Terminologies -Classifications Overview – Links & Joints – Degrees of Freedoms – Coordinate Systems – Work Volume – Precision, Repeatability & Accuracy – Position and Orientation of Objects – Roll, Pitch and Yaw Angles – Joint Configuration of Five Types of Serial Manipulators – Wrist Configuration- Overview of end effector – Selection and Application of Serial Manipulators.
Unit II
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Unit III
FORWARD KINEMATIC MODELING – DENAVIT-HARTEBERG (DH) APPROACH 9 Unit Circle Trigonometry – Translation Matrix – Rotation matrix, Euler Angles – Quaternion Fundamental – Dot and Cross Products – Frames and Joint Coordinates – Homogeneous Transformation – D-H and Modified D-H Convention and Procedures – Forward kinematics Solution using D-H Convention: 3 DOF wrist , RR Planar, 3 DOF RRP, Cartesian, Cylindrical, Spherical , SCARA and Articulated 3 DOF robots – 3 DOF robot with wrist.
Unit IV
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Unit V
KINEMATIC MODELING OF DIFFERENTIAL DRIVE ROBOT 9 Degree of Mobility, Steerability and Maneuverability- Mobile Robot kinematics – Kinematic model and constraints, Mobile robot workspace – Representation of robot position – Kinematic models of differential wheel drive – Fixed wheel and steered wheel – Mobile manipulators and its applications – swarm robots.
Course Outcomes:
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Text Books:
- Mikell P. Groover, “Industrial Robotics”, McGraw Hill, 2nd edition, 2012.
- John J. Craig, Introduction to Robotics, 3rd Edition, Addison Wesley, ISE 2008.
- Lynch, Kevin M., and Frank C. Park. Modern Robotics: Mechanics, Planning, and Control 1st ed. Cambridge University Press, 2017.
Reference Books:
- S K Saha, Introduction to Robotics, Tata McGraw-Hill, Second Edition, 2017
- Mikell P. Groover, “Industrial Robotics”, McGraw Hill, 2nd edition, 2017
- Arthor Critchlow, Introduction to Robotics, 1st edition, Macmillan, 2009.
- Mohsen Shahinpoor, A Robot Engineering Text Book, 1st edition, Harper and Row, 2004.
- Deb S.R., Robotics Technology and Flexible Automation, 2nd edition, Tata McGraw -Hill Publis Robotics: Control and Programming.
- J. Srinivas, R. V. Dukkipati, K., Robotics: Control and Programming, Narosa Publishing House, 2009.
- Tsuneo Yohikwa, Foundations of Robotics Analysis and Control, Prentice Hall of India Pvt. Ltd., 2001
- Bijay K. Ghosh, Ning Xi, T.J. Tarn, Control in Robotics and Automation Sensor – Based integration, Academic Press, 1999.
For detailed syllabus of all other subjects of Robotics & Automation Engineering, 2021 regulation curriculum do visit Robotics 3rd Sem subject syllabuses for 2021 regulation.
For all Robotics & Automation Engineering results, visit Anna University Robotics all semester results direct link.