Mathematical formulation of robotics Introduction, definition of robotics, Spatial description and transformation. Homogenous Coordinate Transformation Matrix and its inversion principle, Forward and Inverse Kinematics Problem, D-H Principle. Manipulator Jacobian: Velocity and static forces. Manipulator dynamics: Lagrangian formulation and N-E formulation. Trajectory generation. Linear control of manipulator, Nonlinear control, sensory devices for robots-both external and internal sensors, sensory information fusion using D-S theory,

To discuss about the need and application of robotics in our society. To address different types of robots and their functionality in detailed.

Students will learn robot programming and how to make a small robot for navigation.
Student will learn how to develop algorithm for putting intelligence into robot.

J. J. Craig, Introduction to Robotics, Mechanics and Control, Addison Wesley

K. S. Fu, R. C. Gonzalez and C. S. G Lee, Robotics: Control, Sensing, Vision, and Intelligence, McGraw Hill

L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators, Springer

F. L. Lewis, D. M. Dawson, and C. T. Abdallah, Robot Manipulator Control: Theory and Practice, Marcel Dekker