National University of Sciences and Technology
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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 3-0
Pre-Requisutes 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
  1. Introduction / Background
  2. Concepts of planar forces and example problem
  3. Concepts of spatial forces and example problem
  4. Concepts of wrench and twist
  5. Line vectors, dual representations of wrenches and twist
  6. An introduction to the geometry of lines
Ideal Grasping
  1. Introduction to grasping
  2. Mathematical Model for the Ideal grasping
  3. Application to grasping with 2,3 and 4 Contact screws Coreciprocalbasis
  4. Application to grasping with 2,3 and 4 Contact screws Nonreciprocalbasis
  5. Presentation
Grasping patch contacts
  1. Introduction to grasping using frictional
Parallel Mechanism
  1. Introduction to Parallel Mechanism
Introduction to Robotic Languages
Text/Ref Books
  1. Introduction to Robotics: Mechanics and Control, by John J. Craig, Prentice-Hall, 3rd Edition, 2004. ISBN-10: 0201543613, ISBN-13: 978-0201543612.
  2. 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