Robotics

Introduction Of Robotics

• History of Robots
• Types of Robots, Notation

Mathematical Representation of Robots

• Position and Orientation of a Rigid Body
• Some Properties of Rotation Matrices
• Successive Rotations,moving frame ZYZ
• Transformation between coordinate system
• Types of Joints: Rotary
• Representation of Links using Denvit - Hartenberg Parameters

Kinematics of Serial Manipulators

• Direct kinematics of 2R, 3R, RRP, RPR
• Puma560 manipulator
• SCARA manipulator
• Stanford Arm
• Inverse kinematics of 2R, 3R manipulator

Velocity and Statics of Manipulators

• Differential Relationships
• Jacobian
• Differential motions of a frame (translation and rotation)
• Linear and angular velocity of a rigid body
• links in serial manipulators, 2R, 3R manipulator
• Jacobian of serial manipulator
• Velocity ellipse of 2R manipulator
• Singularities of 2R manipulators
• Statics of serial manipulators
• Static force and torque analysis of 3R manipulator
• Singularity in force domain.

Dynamics of Manipulators

• Kinetic energy
• Potential energy
• Equation of motions
• Inertia of a link
• Recursive formulation of Dynamics using Newton Euler equation

Trajectory Planning

• Joint space schemes
• Cubic Trajectory
• Joint space schemes with via points
• Cubic trajectory with a via point
• Third order polynomial trajectory planning
• Linear segments with parabolic blends
• Cartesian space schemes
• Cartesian straight line and circular motion planning

Control

• Feedback control of a single link manipulator- first order
• second order system, PID control
• PID control of multi link manipulator
• Force control of manipulator
• force control of single mass
• Partitioning a task for force and position control- lever
• peg in hole Hybrid force
• position controller

Actuators

• Types
• Characteristics of actuating system
• proportional feedback control
• Electric motors
• DC motors, Reversible AC motors, Brushles DC motors, Stepper motors
• stepper motor speed-torque characteristics

Sensors

• Sensor characteristics
• Position sensors- potentiometers
• Encoders, LVDT, Resolvers
• Displacement sensor
• Velocity sensor-encoders, tachometers
• Acceleration sensors
• Torque sensors
• Touch and tactile sensor
• Proximity sensors-magnetic
• optical, ultrasonic, inductive, capacitive, eddy-current proximity sensors