Syllabus
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Course Code: EI-OE-402 Course Name: Open Elective- V - (ii) Robotics |
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| MODULE NO / UNIT | COURSE SYLLABUS CONTENTS OF MODULE | NOTES |
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| 1 | Introduction to Robotics, terminology and definitions, Classification: Cylindrical, Spherical, Revolute, Rectangular; Work volume, Robot drive systems, Precision of movement – Spatial resolution, Accuracy, Repeatability. End effectors – Tools and grippers Components of Robotic Systems: Actuators, Sensors, Controllers, and Manipulators. |
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| 2 | Position and Orientation: Description & frames, Rotation, Homogeneous transform, Translations, Transformation matrix. Robot Arm Kinematics: Introduction to Robot Arm Kinematics, Homogeneous Coordinate transformations, Direct & Inverse Kinematics, Composite Homogeneous transformation matrix. | |
| 3 | Link, joint and parameters:DenavitHarten Berg Notation, D-H Matrix, Kinematic equations. Exercises on Direct & Inverse Kinematics up to six degree of freedom Robots. | |
| 4 | Manipulator Dynamics: Euler-Lagrange Equation, KE and PE Expressions, Equations of motion, Newton-Euler transformation, some examples; Independent Joint control: Actuator Dynamics, set point tracking, Trajectory Interpolation | |
