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EM 805 Robotics – II
Campus
SMME
Programs
PG
Session
Summer Semester 2016
Course Title
Robotics – II
Course Code
EM 805
Credit Hours
30
PreRequisutes
EM 800 Robotics – I
Course Objectives
The course will mainly cover geometry and mathematical representation of rigid body motion; forward and inverse kinematics of articulated mechanical arms; trajectory generation, splines, interpolation; manipulator dynamics; position sensing, actuation and fundamentals of manipulator control.
Detail Content
Screw theory in general
Introduction / Background
Concepts of planar forces and example problem
Concepts of spatial forces and example problem
Concepts of wrench and twist
Line vectors, dual representations of wrenches and twist
An introduction to the geometry of lines
Ideal Grasping
Introduction to grasping
Mathematical Model for the Ideal grasping
Application to grasping with 2,3 and 4 Contact screws Coreciprocalbasis
Application to grasping with 2,3 and 4 Contact screws Nonreciprocalbasis
Presentation
Grasping patch contacts
Introduction to grasping using frictional
Parallel Mechanism
Introduction to Parallel Mechanism
Introduction to Robotic Languages
Text/Ref Books
Introduction to Robotics: Mechanics and Control, by John J. Craig, PrenticeHall, 3rd Edition, 2004. ISBN10: 0201543613, ISBN13: 9780201543612.
Introduction to Screw Theory, by Duffy.
Time Schedule
Summer Semester 2014
Faculty/Resource Person
Dr Yasar Ayaz
PhD (Tohoku University) Japan
Discipline: Mechatronics Engineering
Specialisation:
Robotics & Machine Intelligence