JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD

Course Objectives:

• To understand basic mathematics involved in the design of robotic manipulators, robotic configurations
• To introduce necessary mathematical models to estimate position, velocity, and force required to operate these robotic manipulator.
• To understand various robotic manipulators and the design criteria for linear and non-linear systems.

Course Outcomes

Upon the completion of this course, the student will be able to

• Develop the skills of mathematics and modeling techniques for the design of position, velocity, acceleration, and force of robotic manipulators.
• Design and analyze linear and non-linear control systems.

UNIT - I

Spatial Descriptions and Transformations: Introduction - Descriptions: positions, orientations and frames - Mappings: Changing descriptions from frame to frame - Operators: translations, rotations, transformations, Transformation arithmetic - Transform equations - More on representation of orientation.

UNIT - II

Manipulator Kinematics and Inverse Kinematics Introduction - Link description - Link connection description - convention for affixing frames to links - Manipulator kinematics - Actuator space, Joint space and Cartesian space - Examples: Kinematics of two industrial robots - Computational considerations.

UNIT - III

Jacobians: Velocities and Static Forces: Introduction - Notation for time varying position and orientation - Linear and Rotation of velocity of rigid bodies - More on angular velocity - Motion of the links of a Robot - Velocity “ propagation” from link to link – Jacobians – Singularities- Static forces in Manipulators - Jacobians in the force domain - Cartesian transformation of velocities and static forces.

UNIT - IV

Manipulator Dynamics: The structure of the Manipulator dynamic equations, Lagrangian Formulation of manipulator Dynamics, Formulating manipulator dynamics in Cartesian space, Computational considerations: Linear Control of Manipulators: Introduction, Feedback and closed loop control, Second order linear systems, Control of second order systems, Control law partitioning – Trajectory, Following control, Disturbance rejection, Continuous Vs. Discrete time control, Modeling and control of a single joint, Architecture of industrial robot controller.

UNIT - V

Non - Linear Control & Force Control of Manipulators: Introduction, Nonlinear and time, varying systems, multi-input, Multi-output control systems, the control problem for manipulators, Practical considerations, Present industrial robot control systems, Lyapunov stability analysis, Cartesian based control systems - adaptive control. A frame work for force control of a spring mass systems.

TEXT BOOKS:

• 1. Mark W. Spong, Seth Hutchinson, M. Vidyasagar, Robot Modeling and Control, Wiley Publications, 2005.
• 2. J. J. Craig, ‘Introduction to Robotics’, Addison Wesley, 1986.
• 3. Mark W. Sponge, Sethhutchinson and M. Vidyasagar “Robot modeling and Control”, Wiley student Edition, 2006.

REFERENCES:

• 1. Tsuneo Yoshikawa, Foundations of Robotics –Analysis and Control, Eatern economy Edition, 1990
• 2. Znihua Qu and Drasen M Dawson, Robust Tracking Control of Robot Manipulators, IEEE Press, 1996.
• 3. J. J. Craig, Adaptive Control of Mechanical Manipulators, Addison Wesley, Reading MA, 1988. M. Tech – I Year – II Sem. (Control Engg. / Control Sys.)