Robotics and Control Detailed Syllabus for Control Engineering/ Control Systems M.Tech first year second sem is covered here. This gives the details about credits, number of hours and other details along with reference books for the course.
The detailed syllabus for Robotics and Control M.Tech 2017-2018 (R17) first year second sem is as follows.
M.Tech. I Year II Sem.
Course Objectives:
- To understand basic mathematics involved in the design of robotic manipulators, robotic configurations
- To introduce necessary mathematical models to estimate position, velocity, and force required to operate these robotic manipulator.
- To understand various robotic manipulators and the design criteria for linear and non-linear systems.
Course Outcomes: Upon the completion of this course, the student will be able to
- Develop the skills of mathematics and modeling techniques for the design of position, velocity, acceleration, and force of robotic manipulators.
- Design and analyze linear and non-linear control systems.
UNIT – I: Spatial Descriptions and Transformations: Introduction – Descriptions: positions, orientations and frames – Mappings: Changing descriptions from frame to frame – Operators: translations, rotations, transformations, Transformation arithmetic – Transform equations – More on representation of orientation.
UNIT – II: Manipulator Kinematics and Inverse Kinematics Introduction – Link description – Link connection description – convention for affixing frames to links – Manipulator kinematics – Actuator space, Joint space and Cartesian space – Examples: Kinematics of two industrial robots – Computational considerations.
UNIT – III: Jacobians: Velocities and Static Forces: Introduction – Notation for time varying position and orientation – Linear and Rotation of velocity of rigid bodies – More on angular velocity – Motion of the links of a Robot – Velocity “ propagation” from link to link – Jacobians – Singularities- Static forces in Manipulators – Jacobians in the force domain – Cartesian transformation of velocities and static forces.
UNIT – IV: Manipulator Dynamics: The structure of the Manipulator dynamic equations, Lagrangian Formulation of manipulator Dynamics, Formulating manipulator dynamics in Cartesian space, Computational considerations: Linear Control of Manipulators: Introduction, Feedback and closed loop control, Second order linear systems, Control of second order systems, Control law partitioning – Trajectory, Following control, Disturbance rejection, Continuous Vs. Discrete time control, Modeling and control of a single joint, Architecture of industrial robot controller.
UNIT – V: Non – Linear Control & Force Control of Manipulators: Introduction, Nonlinear and time, varying systems, multi-input, Multi-output control systems, the control problem for manipulators, Practical considerations, Present industrial robot control systems, Lyapunov stability analysis, Cartesian based control systems – adaptive control. A frame work for force control of a spring mass systems.
TEXT BOOKS:
- Mark W. Spong, Seth Hutchinson, M. Vidyasagar, Robot Modeling and Control, Wiley Publications, 2005.
- J. J. Craig, ‘Introduction to Robotics’, Addison Wesley, 1986.
- Mark W. Sponge, Sethhutchinson and M. Vidyasagar “Robot modeling and Control”, Wiley student Edition, 2006.
REFERENCES:
- Tsuneo Yoshikawa, Foundations of Robotics –Analysis and Control, Eatern economy Edition, 1990
- Znihua Qu and Drasen M Dawson, Robust Tracking Control of Robot Manipulators, IEEE Press, 1996.
- J. J. Craig, Adaptive Control of Mechanical Manipulators, Addison Wesley, Reading MA, 1988.
For all other M.Tech 1st Year 2nd Sem syllabus go to JNTUH M.Tech Control Engineering/ Control Systems 1st Year 2nd Sem Course Structure for (R17) Batch.
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