RA3601 deals with the semester VI B.E Robotics and Automation Syllabus at Anna University based on regulation 2021. In this article, we discuss the Robot Dynamics And Control Syllabus 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, RA3601 – Robot Dynamics And Control 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 learn and understand generalized coordinates, Jacobian matrix Mass Distribution and other fundamental equations.
- To understand Lagrangean and Hamiltonian mechanics.
- To understand nonlinearities in control system.
- To Understand various force control strategies.
- To understand various concepts in linearizing a no linear signal.
RA3601 – Robot Dynamics And Control Syllabus
Unit I: Robot Force Models
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
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: Robot Control System
The manipulator control problem, Linear second-order model of manipulator. Functions of controller and power amplifier. Joint actuators- stepper motor, servo motor. Control Schemes: PID control scheme – Position and force control schemes. Robotic sensors and its classification, Internal sensors – Position, velocity, acceleration and force information, External Sensors – Contact sensors-Limit switches, piezoelectric, pressure pads, Non-contact sensors – Range sensors, Vision sensor- robotic vision system, Description of components of vision system.
Unit IV: Control Of Manipulators
Linear Time Varying and Linearization – Input and Output Stability – Background: The Frobenius Theorem – Single-Input Systems. Introduction to nonlinear system – time varying systems – multi input, 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
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.
Text Books:
- Mark W. Spong, Seth Hutchinson, M. Vidyasagar.
- John J. Craig, “Introduction to Robotics – Mechanics and Control”, 3rd edition, Prentice hall, 2005.
References:
- 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.
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