Mechanics and Control of Robot Manipulators

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)


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