AKTU Mechanics of Robots (MNRB501) Syllabus PDF – B.Tech Minor Degree in Robotics

Course Objective: This course aims to inculcate thorough understanding about basic knowledge of mathematics, kinematics and dynamics required for understanding motion programming and operational / control functionality in robotics.

Course Content

Module 1: Mathematical Preliminaries of Robotics: Spatial Descriptions: positions,

orientations, and frame, mappings: changing description from frame to frame, Operators: translations, rotations and transformations, transformation arithmetic, compound Transformations, inverting a transform, transform equations, Euler Angles, Fixed Angles, Euler Parameters.

Module 2: Robot Kinematics: Manipulator Kinematics, Link Description, Link to reference

frame connections, Denavit-Hartenberg Approach, D-H Parameters, Position Representations, Homogeneous Transformation Matrix, Forward Kinematics. Inverse Kinematics, Geometric and analytical approach.

Module 3: Velocities & Statics: Cross Product Operator for kinematics, Jacobians - Direct

Differentiation, Basic Jacobian, , Jacobian Jv / Jw, Jacobian in a Frame, Jacobian in Frame {0}, Kinematic Singularity, Kinematics redundancy, Force balance equation, Forces, Velocity/Force Duality, Virtual Work, Force ellipsoid, Jacobian, Kinematic Singularity, Kinematics redundancy, Mechanical Design of robot linkages,

Module 4: Robot Dynamics: Introduction to Dynamics, Velocity Kinematics, Acceleration

of rigid body, mass distribution Newton’s equation, Euler’s equation, Iterative Newton – Euler’s dynamic formulation, closed dynamic, Lagrangian formulation of manipulator dynamics, dynamic simulation, computational consideration.

Text Books

1. S. K. Saha, Introduction to Robotics 2e, TATA McGraw Hills Education (2014).
2. Dilip Kumar Pratihar, Fundamentals of Robotics, Narosa Publishing House, (2019)
3. Asitava Ghoshal, Robotics: Fundamental concepts and analysis, Oxford University Press (2006)
4. M. Spong, M. Vidyasagar, S. Hutchinson, Robot Modeling and Control, Wiley & Sons, (2005).
5. J. J. Craig, “Introduction to Robotics: Mechanics and Control”, 3rd edition, Addison- Wesley (2003).

Course Outcomes: After completion of course, students would be able:

1. To understand terminologies related to Kinematics and Dynamics of Robotics.
2. To apply mathematics for manipulator positioning and motion planning.
3. To analyse basics of motion programming as per kinematics.
4. To estimate the force/torque required to drive a robot. *****