Robot Dynamics and Control 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 6th Sem scheme and its subjects, do visit Robotics 6th Sem 2021 regulation scheme. The detailed syllabus of robot dynamics and control is as follows.
Course Objectives:
Download the iStudy App for all syllabus and other updates.
Unit I
ROBOT FORCE MODELS 9
Generalized co-ordinates – Generalized Forces – Equation of Motions – Static Forces in Manipulators – Jacobian matrix – Jacobians in The Force Domain – Cartesian Transformation of Velocities and Static Forces – Acceleration of A Rigid Body – Mass Distribution – Nonrigid Body Effects – Newton’s Equation – Euler’s Equation – Langrage Equation
Unit II
ROBOT DYNAMICS 9
General Expressions for Kinetic and Potential Energy – Kinetic Energy for an n-Link Robot – Potential Energy for an n-Link Robot – Equations of Motion -Lagrangian Multiplier – Langrage’s Equation -Hamilton Equation – Hamilton vector Field- Euler – Langrage Equation – State Vector and Equation Formulation
Unit III
Download the iStudy App for all syllabus and other updates.
Unit IV
CONTROL OF MANIPULATORS 9
Linear Time Varying and Linearization – Input and Output Stability – Background: The Frobenius Theorem – Single-Input Systems. Introduction to nonlinear system – time varying systems – multiinput, multi-output control systems – the control problem for manipulators – practical considerations – current industrial-robot control systems – Lyapunov stability analysis – Cartesian – based control systems – adaptive control – Limit Cycle – Describing Function
Unit V
FORCE CONTROL 9
Constrained Dynamics – Static Force/Torque Relationships – Constraint Surfaces – Natural and Artificial Constraints – Network Models and Impedance – Impedance Operators – Classification of Impedance Operators – Force Control Strategies – Impedance Control – Hybrid Impedance Control.
Course Outcomes:
- Describe generalized co-ordinates, Jacobian matrix Mass Distribution and equation of motion.
- Develop the static force model and inverse dynamic model of multi-degree of freedom (DOF) manipulator. Evaluate dynamics of robot using Lagrangian and Hamiltonian mechanics.
- Describe the control architecture of robot manipulator.
- Evaluate linear and nonlinearities in dynamics of robot.
- Develop the control strategies for robot system
Text Books:
Download the iStudy App for all syllabus and other updates.
Reference Books:
- Groover,M.P., Weis,M., Nagel,R.N. and Odrey,N.G., “Industrial Robotics Technology, Programming and Applications”, McGraw-Hill, Int., 1986.
- K.S.Fu, Gonzalez, R.C. and Lee, C.S.G., “Robotics Control, Sensing, Vision and Intelligence”, McGraw Hill, 1987.
- Saeed B. Niku, “Introduction to Robotics: Analysis, Control, Applications”, 2nd edition, John Wiley & sons, Inc., 2011
- Klafter,R.D., Chmielewski, T.A. and Negin,M., “Robotics Engineering – An Integrated Approach”, Prentice-Hall of India Pvt. Ltd., 1984.
For detailed syllabus of all other subjects of Robotics & Automation Engineering, 2021 regulation curriculum do visit Robotics 6th Sem subject syllabuses for 2021 regulation.
For all Robotics & Automation Engineering results, visit Anna University Robotics all semester results direct link.