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  • 7:26 PM, Monday, 18 Oct 2021

Course Postgraduate
Semester Electives
Subject Code AE832
Subject Title Introduction to Robotics


Overview of robotics – manipulators and field robots; robot mechanisms - serial chains, re- gional and orientational mechanisms, parallel chains, reachable and dexterous work space, mechanisms of wheeled and walking robots; spatial displacements, rotation matrices, Euler an- gles, homogenous transformation, D-H parameters, forward and inverse problems for serial and parallel manipulators; task planning – joint space and task space planning; sensors – joint dis- placement sensors, force sensors, range finders, vision sensors; actuators - electric motors - stepper, PMDC and brushless DC motors, pneumatic and hydraulic actuators; speed reducers; Servo control of manipulators - joint feedback control, effect of nonlinearities, inverse dynamic control, force feedback control; higher level control – path planning, configuration space, road map methods, graph search algorithms, potential field method.

Text Books

1. Siciliano, B., Sciavicco, L., Villani, L., and Oriolo, G., Robotics: Modelling, Planning and Control, Springer (2009).

2. Ghosal, A., Robotics: Fundamental Concepts and Analysis, Oxford Univ. Press (2006).

3. Choset, H., Lynch, K. M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L. E., and Thrun, S., Principles of Robot Motion: Theory, Algorithms, and Implementations, MIT Press, Prentice Hall of India (2005).