Syllabus

• Rotation matrices Three- and four-parameter representations for orientation, Mathematical Singularities [4Hrs]
• Mobile Robot/Quadcopter/Drone: Modelling [4Hrs]
• Holonomic and Non-holonomic motion planning [4Hrs]
• Forward kinematics Inverse kinematics for Robotic Arm manipulator [6Hrs]
• Jacobians: velocities and static forces [4Hrs]
• Robot Dynamics: Euler-Lagrange equations Lagrangian approach to robot dynamics [4Hrs]
• Trajectory Planning and Kinematic Control [5Hrs]

To learn kinematics and dynamics

To design controllers for robotic systems for trajectory tracking , navigation tasks

To Learn trajectory planning

At the end of the course, the students would able to
CO1: perform kinematics and dynamics modeling of mobile robots
CO2: Model robotic manipulators and analyse forward kinematics
CO3: Analyse reverse kinematics
CO4: Analyse the dynamics of a robot manipulator
CO5: Controller design for motion and force control of robotic manipulators

L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators, Springer, 2007

K.S. Fu, R.C. Gonzalez and C.S.G. Lee, Robotics: Control, Sensing, Vision, and Intelligence, McGraw Hill, NY, 1987

F.L. Lewis, D.M. Dawson, and C.T. Abdallah, , Robot Manipulator Control: Theory and Practice, Marcel Dekker,New York, 2004

R.J. Schilling, Fundamentals of Robotics Analysis and Control, Prentice Hall, NJ, Digitized Dec 5, 2007