RGPV CS VIII SEMESTER ROBOTICS( CS-8402) SYLLABUS
Unit-I Introduction:Introduction to robotics,Robot Usage,Robot subsystems,Robot Classification Technology of Robots,Basic Principles in robotics
Unit-II
Spatial Descriptions:Transformation and Sensors,Robot Architecture,Descriptions:Positions , Orientations and Frames,Mappings :Changing descriptions from Frame to Frame,Operators: Translations ,Rotations,Transformations ,Transform Equations ,Coordinate Transformations , Sensor Classification,Internal Sensors,External sensors,Vision system,sensor selection .Unit-III
Kinematics Link-Connection Description,Forward and Inverse Positional Analysis,Velocity Analysis:Jacobian Matrix,Link Velocities,Acceleration analysis,Statics:Forces and Moment Balance,Recursive Calculation,Equivalent Joint Torques,Force Ellipsoid,Dynamics :Inertia Properties,Dynamics Algorithms .Unit-IV
Control:Control Techniques,Second order Linear systems,Feedback Control,Performance of feedback control systems,Joint controller,Non linear Trajectory Control,State space Representation and control ,Stability , Cartesian and force controlsUnit-V
Motion Planning and Computer for Robots:Joint space Planning,Cartesian space planning ,Position and orientation Trajectories,Point to Point Planning,Continuous path Generation ,Computational speed,Hardware requirements,Control considerations,Robot Programming,Hardware architecture.A case study for Autonomous Mobile Robot .LIST OF REFERENCE BOOKS:
- Saha , Introduction to Robotics , TMH Pub.
- Craig , Introduction to Robotics ,Mechanics and control , Pearson Pub
- Ghosal , Robotics –Fundamental Concepts and Analysis , Oxford Pub.
- Niku , Introduction to Robotics:Analysis , System & Applications , PHI
- Fu , Robotics ,TMH Pub
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