Mechanics and Control of Robot Manipulators

No.SubjectLTPCCat.
ED 5260Mechanics and Control of Robot Manipulators

Course contents:

Spatial motion of robot links; descriptions of link orientation; homogeneous transformations; elementary types of joints; DH parameters; velocity and acceleration analysis of robot manipulators; introduction to singularities and isotropy.

The virtual work principle and its applications to robot statics; constraint forces in robot mechanisms.
Inertia of the robot links; formulation of the equation of motion via the Lagrangian approach; constrained Lagrangian formulation for parallel robots; simulation exercises and case studies.

Text books:

a) John J. Craig, “Introduction to Robotics: Mechanics and Control”, Prentice Hall (2003)
b) Ashitava Ghosal, “Robotics: Fundamental Concepts and Analysis”, Oxford University Press (2006)
c) Subir Kumar Saha, “Introduction to Robotics”, McGraw Hill (2008)

References:

a) Richard M. Murray, Zexiang Li, S. Shankar Sastry, “A Mathematical Introduction to Robotic Manipulation” CRC Press, (1994)
b) Lung-Wen Tsai, “Robot Analysis: The Mechanics of Serial and Parallel Manipulators”, Wiley Interscience (1999)
c) Suggested publications from journals and conference proceedings

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