IC6003 PRINCIPLES OF ROBOTICS | Impotent Questions | Question bank | Syllabus | Model and Previous Question papers | Download PDF

IC6003 PRINCIPLES OF ROBOTICS

IC6003 PRINCIPLES OF ROBOTICS  | Impotent  Questions | Question bank | Syllabus | Model and Previous Question papers | Download PDF

IC6003 PRINCIPLES OF ROBOTICS | Impotent  Questions | Question bank | Syllabus | Model and Previous Question papers | Download PDF Exammain.com Important Questions is available for download in this page for IC6003 PRINCIPLES OF ROBOTICS. Students can download the Important Questions in the PDF format or in Word format. Questions Bank and Previous year question papers also be available in this page  . Important Questions provided here are the Expected questions that are possible to be appeared in the upcoming exams. you can make use of the below questions and prepare for your exams. IC6003 PRINCIPLES OF ROBOTICS Important Questions . Download the Important Questions using the below link.

Subject Informations : 

University  :  Anna University
Department  : B.E. ELECTRONICS AND INSTRUMENTATION ENGINEERING
Semester  : 08 th
Year  : 04 th year  ( Final Year )
Regulation  : R2013
Subject Code  : IC6003
Subject Name  :  PRINCIPLES OF ROBOTICS


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IC6003 – PRINCIPLES OF ROBOTICS SYLLABUS

OBJECTIVES:
-> To introduce the functional elements of Robotics
-> To impart knowledge on the direct and inverse kinematics
-> To introduce the manipulator differential motion and control
-> To educate on various path planning techniques
-> To introduce the dynamics and control of manipulators

UNIT I BASIC CONCEPTS

Brief history-Types of Robot–Technology-Robot classifications and specifications-Design and control issues- Various manipulators – Sensors – work cell – Programming languages.

UNIT II DIRECT AND INVERSE KINEMATICS

Mathematical representation of Robots – Position and orientation – Homogeneous transformation-Various joints- Representation using the Denavit Hattenberg parameters -Degrees of freedom-Direct kinematics-Inverse kinematics-PUMA560 & SCARA robots- Solvability – Solution methods-Closed form solution.

UNIT III MANIPULATOR DIFFERENTIAL MOTION AND STATICS

Linear and angular velocities-Manipulator Jacobian-Prismatic and rotary joints–Inverse -Wrist and arm singularity – Static analysis – Force and moment Balance.

UNIT IV PATH PLANNING

Definition-Joint space technique-Use of p-degree polynomial-Cubic polynomial-Cartesian space technique – Parametric descriptions – Straight line and circular paths – Position and orientation planning.

UNIT V DYNAMICS AND CONTROL

Lagrangian mechanics-2DOF Manipulator-Lagrange Euler formulation-Dynamic model -Manipulator control problem-Linear control schemes-PID control scheme-Force control of robotic manipulator.

TOTAL : 45 PERIODS

OUTCOMES:


Ability to understand and analyze Instrumentation systems and their applications to various industries.

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IC6003 PRINCIPLES OF ROBOTICS Questions Papers – Click here to Download 

IC6003 PRINCIPLES OF ROBOTICS 2 marks with answers – Click here to Download 

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