RA3301 deals with the semester III B.E Robotics and Automation Syllabus at Anna University based on regulation 2021. In this article, we discuss the Robot Kinematics syllabus along with textbooks and references.
We intend to provide a full-planned syllabus for students to gain knowledge of the syllabus. It will give students to be equipped with perfect books and the required knowledge to prepare for the examinations. These are necessary to get a qualified certificate from the university with aggregate marks. Students must perform well to take a step forward toward their careers. They must earn a qualified degree help them to achieve success in their goals. In this article, RA3301 – Robot Kinematics Syllabus will pioneer the way to do that. Hope the following information is useful. Don’t forget to share it with your classmates.
If you want to know more about the syllabus of B.E Robotics and Automation connected to an affiliated institution’s four-year undergraduate degree program. We provide you with a detailed Year-wise, semester-wise, and Subject-wise syllabus in the following link B.E Robotics and Automation Syllabus Anna University, Regulation 2021.
Aim Of Objectives:
- To introduce Robots history, terminologies, classification and configurations.
- To get knowledge about basic Geometrical and Algebraic approaches to solve forward kinematics of serial manipulators.
- To get knowledge about advanced forward kinematics of serial manipulators.
- To get knowledge about inverse kinematics of various serial manipulators.
- To get knowledge about Jacobian aspects and infinitesimal motion of robot mechanisms.
RA3301 – Robot Kinematics Syllabus
Unit I: Overview Of Robotics
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: Forward Kinematics – Geometrical And Algebraic Approach
Need for forward and Inverse Kinematics Equation – Parameters in Design and Control – Methods of forward and inverse kinematics- Geometrical and Algebraic Approach in Forward Kinematics Solution, 1 DOF – 2 DOF Planar Robot (2P and 2R); 3DOF 2RP Spatial Robot.
Unit III: Forward Kinematic Modeling – Denavit-Harteberg (Dh) Approach
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: Inverse Kinematics modeling
Introduction to inverse kinematics -Issues in inverse kinematics – Inverse kinematics of 2 DOF Planar robot – 2 and 3DOF planar and Spatial robot – Tool configuration – Inverse kinematics of 3 axis robot and 6 axis Robot – Inverse kinematics Computation- Closed loop solution.
Unit V: Kinematic Modeling Of Differential Drive Robot
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.
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. Cambridge University Press, 2017.
References:
- 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.
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