ME5421 Syllabus
1- Introduction to
Robotics: Types of robots;
Components; Applications; Degrees of Freedom and workspace
2- Basic Concept in
Kinematics & Dynamics: Reference
frames and rigid body representation; Matrix representation of rotational and
translational transformation; Dynamic properties (mass & inertia);
Lagrangian equations of motion of a rigid body
4- Forward and Inverse
Kinematics of Robotic Arms: Forward
Position Problem; Inverse Position Problem; Velocity and acceleration problems
5- Dynamics of Robotic
Arms: Lagrangian Equations of motion
of multi-link arms
Gravitational and contact
forces, joint friction, static forces
6- Trajectory Planning: Polynomial and sinusoidal trajectories; joint space
trajectory planning; Cartesian space trajectory planning
7- Mobile Robot Kinematics
and Dynamics: Types of locomotion; Holonomic and non-holonomic
Kinematic constraints; Kinematics of wheeled robots; Path planning; Dynamics of
wheeled robots
8- Actuators, Sensors
& Hardware: Characteristics of
actuators; electric motors; micro-processor control of electric motors; other
actuators; position, velocity, and accelerations sensors; force, pressure, and
torque sensors; light & infrared sensors and touch & tactile sensors;
Other sensors; Controller boards; Power consumption; Programming