CL7004 ROBOTICS AND CONTROL
UNIT I INTRODUCTION AND TERMINOLOGIES:
Definition-Classification-History- Robots components-Degrees of freedom-Robot joints- coordinates- Reference frames-workspace-Robot languages-actuators-sensors- Position, velocity and acceleration sensors-Torque sensors-tactile and touch sensors-proximity and range sensors- vision system-social issues
UNIT II KINEMATICS
Mechanism-matrix representation-homogenous transformation-DH representation-Inverse kinematics-solution and programming-degeneracy and dexterity
UNIT III DIFFERENTIAL MOTION AND PATH PLANNING
Jacobian-differential motion of frames-Interpretation-calculation of Jacobian-Inverse Jacobian- Robot Path planning
UNIT IV DYNAMIC MODELLING
Lagrangian mechanics- Two-DOF manipulator- Lagrange-Euler formulation – Newton-Euler formulation – Inverse dynamics
UNIT V ROBOT CONTROL SYSTEM
Linear control schemes- joint actuators- decentralized PID control- computed torque control – force control- hybrid position force control- Impedance/ Torque control.
REFERENCES
1. R.K. Mittal and I J Nagrath, “ Robotics and Control”, Tata MacGrawHill, Fourth Reprint 2003.
2. Saeed B. Niku ,''Introduction to Robotics '', Pearson Education, 2002
3. Fu, Gonzalez and Lee Mcgrahill ,''Robotics ", international
4. R.D. Klafter, TA Chmielewski and Michael Negin, "Robotic Engineering, An Integrated approach", Prentice Hall of India, 2003.
5. Reza N.Jazar, Theory of Applied Robotics Kinematics, Dynamics and Control, Springer, Fist Indian Reprint 2010.
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