MANIPAL INSTITUTE OF TECHNOLOGY

Manipal University, Manipal

Karnataka -576104

COURSE PLAN

Department : Mechatronics Engineering

Course Name & code : MECHANICS OF ROBOTIC SYSTEM [MTE 3102]
Semester & branch : V, Mechatronics
Name of the faculty : Aparna & Ritwik Chattaraj
No of contact hours/week : 3 [2 1 0 3]

ASSESSMENT PLAN:

1. In Semester Assessments - 50 %

Written tests : 30% (2 TESTS OF 15 MARKS EACH)

Assignment/Quiz/Seminar : 20% (2 TESTS OF 6 MARKS EACH + GROUP

ASSIGNMENT OF 8 MARKS)

2. End Semester Examination - 50 %

Written examination of 3 hours duration (Max. Marks: 50 )

Portions for Assignment

Assignment no. Topics
1 L01-L15
2 L12-L27
3 REPRESENTS A PART OF THE SYLLABUS
Portions for Sessional Test
Test no. Topics
1 L01-L15
2 L16-L30

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 Course Outcomes

At the end of this course, the student should be able to:

No. of Program
Contact Outcomes(POs)
Hours addressed
CO1: Define the fundamental understanding in the field of 5 P01, PO2 and
PO3
robotics.
CO2: Analyze algebraic tools for the description of frame 6 P01, PO2 and
PO3
representation.
CO3: Apply forward kinematics and inverse kinematics for 16 P01, PO2 ,PO3
and PO9
computing position and joint variables respectively.
CO4: Determine robot dynamics and forces necessary to 5 P01, PO2 and
PO3
analyze and design the motion for articulated systems.
CO5: Summarize the methods of path and trajectory planning 4 P01, PO2 and
PO3
in joint space.

Course
Outcome
L. No. Topics
addressed
(CO)
L0 Introduction to the course.
L1 Introduction: Definition of robots; degrees of freedom; degrees of movements CO1

L2 Robot configuration; definition and factor affecting the control resolution CO1

L3 Spatial resolution, accuracy and repeatability, CO1

L4 Specification of a robot, actuators and sensors CO1

L5 Drives and transmission systems used in robotics CO1

L6 Spatial descriptions and transformations: Descriptions CO2

L7 Positions, orientations CO2

L8 Frames, mappings-changing descriptions from frame to frame CO2

L9 Operators: translations CO2

L 10 Rotations transformations, transform equations CO2

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L11 TUTORIAL CO2

L12 Manipulator kinematics: Introduction to kinematics CO3

L 13 Link description, link-connection description CO3

L 14 Convention for affixing frames to links, manipulator kinematics CO3

L 15 TUTORIAL CO3

L16 Actuator space, joint space, CO3

L 17 Cartesian space, kinematics of two industrial robots CO3

L18 Frames with standard names CO3

L19 TUTORIAL CO3

L 20 Inverse manipulator kinematics: Solvability CO3

L 21 Notion of manipulator subspace, CO3

L 22 Algebraic solution by reduction to polynomial CO3

L23 Pieper's solution when three axes intersect CO3

L 24 Examples of inverse manipulator kinematics CO3

L25 Standard frames, solving a manipulator CO3

L 26 Repeatability and accuracy CO3

L27 TUTORIAL CO3

L 28 Manipulator dynamics: Introduction, Acceleration of a rigid body, CO4

L29 Mass distribution, Newton's equation, Euler's equation iterative CO4

L 30 Newton-Euler dynamic formulation Iterative vs. closed form CO4

L31 Formulating manipulator dynamics in Cartesian space CO4

L32 TUTORIAL CO4

Trajectory generation: Introduction, general considerations in path description CO5
L33
and generation
L 34 Joint-space schemes Cartesian-space schemes CO5

L 35 Geometric problems with Cartesian paths. CO5

L 36 TUTORIAL CO5

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References:
1. John J. Craig, Introduction to Robotics- Mechanics and control Pearson Education
International 3rd edition, 2004
2. Saeed B. Niku, Introduction to Robotics Analysis, System, Application, Pearson
Education International
3. King Sun Fu, Gonzalez, Robotics- control, sensing, vision, and intelligence,
McGraw-Hill, 1987
4. Yoram Koren, Robotics for Engineers, McGraw Hill, 1992.
5. Groover M.P, Cam and Automation, Prentice Hall, 1995.

Submitted by:

(Signature of the faculty)

Date:

Approved by:

(Signature of HOD)

Date:

FACULTY SECTION
Aparna A
Ritwik Chattaraj B

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MECHANICS OF ROBOTIC SYSTEMS MTE-3102 Abhay A Singh
The student should be able to:
CO1: Define the fundamental understanding in the field of robotics.(5hrs)
CO2: Analyze algebraic tools for the description of frame representation.(6hrs)
CO3: Apply forward kinematics and inverse kinematics for computing position and joint
variables respectively.(16Hrs)
C04: Determine robot dynamics and forces necessary to analyze and design the motion
for articulated systems.(5hrs)
CO5: Summarize the methods of path and trajectory planning in joint space.(4hrs)

Questionnaire:
Q1.) Can you be able to analyse DOF, work volume, joint notations and specification of
any robot?

A. High B.Medium C. Low D.Very

Low E. Nothing

Q2.) To what extent you can map translation, rotation and frame representation of a
robot?

A. High B.Medium C. Low D.Very

Low E. Nothing

Q3.) Can you write the total transformation equation using forward kinematics and
inverse kinematics (D-H Representation) for any industrial robot/configuration?

A. High B.Medium C. Low D.Very

Low
E. Nothing

Q4.) Are you able to calculate the forces necessary to design the motion of the robot?

A. High B.Medium C. Low D.Very

Low
E. Nothing

Q5.) Can you interpret the general considerations for trajectory planning?

A. High B.Medium C. Low D.Very

Low
E. Nothing

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