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ROBITCS
13.1 SYLLABUS
UNIT I
INTRODUCTION. Automation and Robotics. An Over view of Robotics. Classification by
coordinate system and control systems. Components of the Industrial robotics: Degrees of freedomend effectors: Mechanical gripper. Magnetic. Vacuum and other types of grippers. General
consideration on gripper selection and design
-------------------------------------------------------------------------------------------------------------------UNIT II
Motion Analysis: Basic rotation matrices. Composite rotation matrices. Euler Angles. Equivalent
angle and Axis. Homogeneous transformation. Problems.
--------------------------------------------------------------------------------------------------------------------UNIT III
Manipulator Kinematics : D-H notations. Joint coordinates and world coordinates. Forward and
inverse kinematics. Problems.
--------------------------------------------------------------------------------------------------------------------UNIT IV
Differential kinematics: Differential kinematics of planar and spherical manipulators. Jacobians.
Problems.
--------------------------------------------------------------------------------------------------------------------UNIT V
Robot Dynamics: Lagrange- Euler formulations. Newton-Euler formulations. Problems on planar
two link manipulators.
--------------------------------------------------------------------------------------------------------------------UNIT VI
Trajectory Planning: Joint space scheme. Cubic polynomial fit. Avoidance of obstacles. Types of
motion: Slew motion, Joint interpolated motion, Straight line motion
--------------------------------------------------------------------------------------------------------------------UNIT-VII
Robot actuators and Feed back components : Actuators: Pneumatic and Hydraulic actuators,
Electric Actuators, DC servo motors, stepper motors. Feedback Components: Position Sensors,
Potentiometers. Resolves and encoders
--------------------------------------------------------------------------------------------------------------------UNIT-VIII
Robot Application in Manufacturing: Material handling. Assembly and Inspection.
--------------------------------------------------------------------------------------------------------------------TEXT BOOKS:
T1: Industrial Robotics / Groover M P/Pearson Edu.
T2: Introduction to Robotic Mechanics and Control by JJ Craig, Pearson,3rd edition.
REFERENCE BOOKS:
R1: Robotics and Control / Mittal RK & Nagrath I J/TMH
UNIT NO.
I
II
III
IV
V
VI
VII
VIII
6
9
4
6
5
8
6
5
OBJECTIVES
Lecture
Number as
per the period
L1
L2
S.
No.
Magnetic.
L6
L7
L8
Euler Angles.
L9
10
L10
11
Homogeneous transformation.
L11
12
Problems.
L12
3
I
4
II
13
14
15
III
Topic
L3
L4
L5
L13
L14
L15
16
CLASS TEST-1
Manipulator Kinematics : D-H notations.
17
L17
18
L18
21
23
Problems.
19
20
26
27
CLASS TEST-2
IV
25
L16
L19
L20
L21
L23
L25
L26
L27
Date
Planned
Remarks
28
L28
29
Newton-Euler formulations.
L29
30
L30
33
34
L34
35
Avoidance of obstacles.
L35
36
L36
37
L37
39
L39
31
32
VI
42
44
46
47
50
VII
51
53
54
55
56
VIII
59
60
Class Test-4
57
58
L31
L32
L33
L42
L44
L46
L47
L50
L51
L53
L54
L55
L56
L57
L58
L59
L60
(c) Show by means of the transform graph how you would solve for the transform
for the cube relative to the end effector. That is, determine all transforms
needed to and the transform of the cube relative to the end effector. [SET2,Sept 2011,JNTUH ]
8.A frame UB was moved along its own n-axis a distance of 5 units and then rotated
about its o-axis an angle of 600, followed by a rotation of about the z-axis; it was
then translated about it's a-axis 3 units and finally rotated about x-axis 450.
(a) Calculate the total transformation performed
(b) What angles and movements would we have to make if we were to create the
same location and orientation using Cartesian configurations[SET3,Sept 2011,JNTUH ]
13.4.2.2 Objective Questions
1. If the orientation changes without the change of position then the transformation is _____[
b]
(a) pure translation (b) pure rotation (c) combined transformation (d)none
2. Rotation of 90 degrees about the Z-axis Rot (Z, 90) is ______ [c ]
10. In robotics, second frame is rotated with respect to the first is referred as changing the
__________.[Mapping]
1
1
0
0
0
2
90
d2
0
+90
3
0
d3
0
+90
4
4
d4(constant)
0
0
3.For 3-DOF articulated arm, Determine the joint Displacement for known position
6.Assign coordinate frames for an articulated robot arm (3-axis) using D-H convention. [SET1,Sept 2011,JNTUH ]
7.A special three-degree-of-freedom spraying robot has been designed as shown in
figure 7.
(a) Assign the coordinate frames based on D-H representation.
(b) Fill out the parameters table.
(c) Write all the A matrices.
(d) Write the UTH matrix in terms of the A matrices. [SET4,Sept 2011,JNTUH ]
5.____________model of representation is a very simple way of modeling robot links and joints
that can be used for any robot configuration, regardless of its sequence or complexity.
[Denavit, Hartenberg]
6.Expand SCARA_________________________[Point itself]
7.The non-servo system is also called as ________________ loop control system.[3X3]
8.The joint parameters are ______________________[Link Twist]
9.In robotics, second frame is translated with respect to the first frame is referred as
changing the ___________[Mapping]
13.4.3.3 Assignment Questions
1) Derive the kinematic equations for the SCARA robot giving co-ordinate frame diagram and
The kinematic parameters?
2) Derive the kinematic equation for the elbow manipulator with co-ordinate frame
Diagram and kinematic parameters?
3) Explain geometric solution of inverse kinematic with an example of two-degree system
Manipulator?
4) Explain numerical solutions for a 3-DOF manipulator?
5) Discuss about direct and inverse kinematics?
6) Explain DH convention briefly?
7) Define and Illustrate the link and joint parameters Explain their uses?
8) Derive the arm matrices for a cylindrical robot. Hence obtain the kinematic equations for The
same?
13.4.3.4 Tutorial Questions
1) Explain geometric solution of inverse kinematic with an example of two-degree system
Manipulator?
2) Explain numerical solutions for a 3-DOF manipulator?
3) Discuss about direct and inverse kinematics?
4) Explain DH convention briefly?
UNIT-IV
13.4.4.1 Subjective Questions
1.What is a Geometric jacobian? Explain. [Nov 2012, JNTUH]
2.Find the jacobian matrix of a planar two link revolute jointed
manipulator.[SET 1, May 2010,JNTUH ]
3.Determine Jacobian, Singularities and Joint velocities for a 3 DOF planar area with
the revolute joints. [SET1,Sept 2011,JNTUH ]
4.Explain how you solve simple inverse kinematic algorithm. [Nov 2012,JNTUH ]
5.Find the manipulator jacobian matrix J(q) of the five axis Spherical coordinate robot.
[Nov 2012,JNTUH ]
6.Establish the dynamic model of a one axis robot (Inverted Pendulum) with
2.As the complexity of the system increases, the __________ method becomes relatively simpler
to use. [b]
(a) Newtonian- Euler (b) Lagrangian-Euler (c) a&b (d) none
3._________Methods can be used to derive Dynamical equations of a robotic manipulator.
[Lagrange method and Newton Method]
4. _________ method is based on differentiation of energy terms with respect to the systems
variables & time. [Lagrange Method]
5.The Newton Eular and Langrange Eular formulations of the dynamic model provide a
__________ Solution [Closed form]
6.The LE and NE presented in this chapter provide a symbolic solution to __________ dynamics
[Manipulator].
7. The LE dynamic formulation is based on a set of generalized coordinates to describe the
__________ Variables[System].
8.The left hand side of dynamic equations can be interpreted as sum of the ____________ due to
K.E and P.E present in the system.[Torques/Forces].
9. The joint torque required to cause these time dependant motions to realize a trajectory are
computed using the _______________dynamic equations of motions.[Recursive NE]
10. The robot manipulator is an open kinematic chain of rigid links connected with
_____________
Joints.[1 DOF]
13.4.5.3 Assignment Questions
1) Describe the advantages and disadvantages of Newton-Euler formulation?
2) Determine the variation of joint torques from the dynamic model of 2-DOF manipulator. Take
the following data for the manipulator.
m1 = m2 = 6kg and
L1 = L2 = 1m
The specified motion cycle is:
Both joints move from rest with equal velocity, attain max.Velocity then decelerate and
come to rest, Traversing /2 radians in 1 sec.
3) Describe the advantages and disadvantages of lagrange-Euler formulation?
4) Explain Recursive Newton-Euler formulation?andWrite the forward Iteration for NewtonEuler formulation?
5) derive the dynamic model for the 2-DOF RR manipulator using lagrange-Euler formulation?
6) Write the application of dynamic model to study the torque variations?
7).Make a comparison of NE and LE formulations and state the situation(s) when you will prefer
NE formulation and when you will prefer LE formulation.
8). Derive the dynamic model for the 2-DOF Planar manipulator using Newton Euler
formulation?
13.4.5.4 Tutorial Questions
1) Determine the variation of joint torques from the dynamic model of 2-DOF manipulator. Take
the following data for the manipulator.
m1 = m2 = 6kg and
L1 = L2 = 1m
The specified motion cycle is:
Both joints move from rest with equal velocity, attain max.Velocity then decelerate and
come to rest, Traversing /2 radians in 1 sec.
2) Describe the advantages and disadvantages of lagrange-Euler formulation?
3) Explain Recursive Newton-Euler formulation?andWrite the forward Iteration for NewtonEuler formulation?
4) derive the dynamic model for the 2-DOF RR manipulator using lagrange-Euler formulation?
UNIT-VI
13.4.6.1 Subjective Questions
1.Find expressions for the joint motion parameters by using cubic polynomial fit in joint space
Scheme.
Use the following data:0 = 20, f = 70, t= 3sec[Nov 2012, JNTUH]
2.Determine the time required for each joint of a planar R-R manipulator by using LagrangeEuler formulations.[SET 1, May 2010,JNTUH ]
3.What are the features of joint space trajectory planning algorithm?Explain. [Nov 2012,JNTUH ]
4.A one degree of freedom manipulator with rotary joint is to move from 113 to 210 in 7 sec
Find the coefficients of the cubic polynomial to interpolate a smooth trajectory. [Nov 2012,JNTUH ]
5.What are the features of joint space trajectory planning algorithm?
Explain. [SET 3, May 2011,JNTUH ]
6.Explain Defferent methods of splitting a joint trajectory? [Nov 2012,JNTUH ]
7.List the types of manipulators employed for travelling from point to point motion types?
[SET1,Sept 2011,JNTUH ]
8.Define Robot program. What is the purpose of it and what are the various methods
used for programming robots? [SET3,Sept 2011,JNTUH ]
13.4.6.2 Objective Questions
1.________ schemes can be used in joint-space trajectory planning. [ c]
(a) Third- order polynomial (b) fifth- order polynomial (c) a & b (d) none
Upto 8Mpa of pressure for delivery to the cylinder at a rate of 25 cm/sec The outer and inner
radii of vane are 62 mm and 19 mm respectively. The thickness of each vane is 5mm. Determine
the angular velocity and the torque that can be generated by the actuator. [SET3,Sept 2011,JNTUH ]
5.Discuss about the sensors used in Robotic Arc welding. [Nov 2012,JNTUH ]
6.Distinguish between servo and non-servo grippers. What are the actuators used of such grippers
Explain. [SET2,Sept 2011,JNTUH ]
7.What is the resolution of an absolute optical encoder that has twelve tracks? [Nov 2012,JNTUH ]
1.4.7.4 Objective Questions
Pneumatic actuators have the following characteristic/s _______ [ a]
(a) low compliance (b) high accuracy (c) high stiffness (d) works at very high pressure
2._______ are the muscles of a robot [ c]
(a) sensor (b) manipulator (c) actuator (d) Reservoir
3._________ actuating systems have the highest power-to-weight ratio. [ a]
(a) hydraulic (b) pneumatic (c) electric (d) a, b, & c