Introduction to Robotics
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Follow on Instagram for UpdatesIntroduction to Robotics Syllabus — Unit-wise Content
The official GTU curriculum for Introduction to Robotics (subject code 3160317) as prescribed for Biomed · Semester 6 divides the course into 4 units, covering 71 listed topics. The unit-wise breakdown below is read from the GTU syllabus document for this subject code, so you can check what the course actually covers before deciding which papers to attempt.
Download the official syllabus PDF (3160317)Unit 1 Introduction to Robotics
- robot anatomy
- Classification of Robots
- Advantages and Disadvantages of Robots
- Laws of robotics
- Spatial coordinates
- geometric configurations and work envelope
- Machine intelligence
- Applications and robot selection
- economic justification
- future of robotics
Unit 2 Spatial Descriptions and Transformation
- Descriptions: positions
- orientations, and frames
- Mappings: changing descriptions from frame to frame
- Operators: translations
- rotations, and transformations
- Transformation arithmetic
- Transform equations
- Representation of orientation
- Transformation of free vectors
- Manipulator Forward Kinematics: Link Description
- Convention for Affixing Frames to Links
- Manipulator Kinematics
- Actuator Space
- Joint Space, And Cartesian Space
- Frames with Standard Names
- Manipulator Inverse Kinematics: Solvability
- Algebraic and Geometric Approaches
- Degeneracy and Dexterity
- Pieper's Solution When Three Axes Intersect
- The Standard Frames
- Solve-Ing A Manipulator
- Repeatability and Accuracy
Unit 3 Jacobians
- velocities and static forces: Velocities
- Linear and rotational velocity of rigid bodies
- Angular velocity
- Motion of the links of a robot
- velocity "propagation" from link to link
- Subject Code: 3160317 w.e.f
- AY 2019-20 Jacobians
- Static forces in manipulators
- Jacobians in the force domain
- cartesian transformation of velocities and static forces
- Trajectory generation: general considerations in path description and generation
- joint-space schemes
- cartesian-space schemes
- path generation at run time
- description of paths with a robot programming language
- planning paths when using the dynamic model
- collision-free path planning
- Control of Robot Manipulator: Open and closed loop control system
- Control system concepts
- linear control schemes
- PID control system
- types of motion control
- electric drives and motor control
- planning of trajectories
Unit 4 Actuators
- Characteristics of Actuating Systems
- Comparison of Actuating Systems
- Hydraulic and Pneumatics Devices
- Electric Motors in Robotics
- Sensors: Sensor Characteristics
- Position Sensors
- Velocity Sensors
- Acceleration Sensors
- Touch and Tactile Sensors
- Proximity Sensors
- Range Finder
- End effectors: General design considerations
- mechanical grippers
- vacuum pads
- End effector power sources
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