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Course Postgraduate
Semester Electives
Subject Code AVC861
Subject Title Introduction to Robotic Systems


Introduction: Components and mechanisms of a robotic system, Robot Manipulators, Mobile Robots , Applications, trajectory planning.

Kinematics: Rotation matrix, Euler angles, Quaternions, Homogeneous transformation, DH Convention, Typical examples, Joint space and Operational space, Inverse Kinematics problem,
Rodrigues parameters.

Differential Kinematics and Statics: Geometric Jacobian, Jacobian Computation, kinematic singularities, Analysis of redundancy, Analytical Jacobian, Inverse Kinematics algorithms, Satics, Kineto‐static duality, Velocity and force transformations.

Dynamics: Lagrange formulation, Computation of kinetic and potential energies, Dynamical model of simple manipulator structures, Direct dynamics and inverse dynamics, Operational space dynamic model.

Motion control: The control problem, Joint space control, Decentralized control, Computed torque feedforward control, Centralized control, PD Control with gravity compensation, Inverse dynamics control, Operational space control.

Force Control: Manipulator interaction with environment, Compliance control, Impedence control, Force control, Constrained motion, Hybrid force/motion control, estimation related to robotics.

Text Books

Same as Reference

  1. B.Siciliano, L. Sciavicco, L. Villani, G.Oriolo, Robotics‐ Modelling, Planning and Control, Springer, 2009.
  2. Reza N. Jazar, Theory of Applied Robotics‐ Kinematics, Dynamics, and Control , Springer, 2007.
  3. M.W.Spong, S.Hutchinson and M. Vidyasagar, Robot Modelling and Control,2006.
  4. B. Siciliano, O. Khatib (Eds), Springer Handbook of Robotics, Springer, 2008.
  5. Mark W Spong, M Vidyasagar, Robot Dynamics And Control, John Wiley and Sons, 2008.
  6. Richard M. Murray, Zexiang Li, S. S. Sastry, A Mathematical Introduction to Robotic Manipulation,CRC Press, 1994.
  7. James R. Wertz, Spacecraft Attitude Determination and Control, Kluwer Academic Publishers,Dordrecht, 1980.