Robotics
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Robotics Syllabus — Unit-wise Content
The official GTU curriculum for Robotics (subject code 2181919) as prescribed for Manufacturing · Semester 8 divides the course into 4 units, covering 36 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 (2181919)Unit 1 General considerations of Robotic Manipulator
- Robot anatomy: Links
- Joint and joint notations scheme
- Degrees of freedom
- Arm and wrist configurations
- End effectors
- Coordinate frames
- Mapping between: Rotated frames
- Translated frames
- rotated and translated frames
- Description of robotic pose in a space
- Homogeneous transformation and inverting a homogeneous transformation
- Orientation with RPY and Euler angles (Forward and inverse formulations)
Unit 2 Kinematics of Robotic Manipulators
- Direct Kinematics
- Kinematic Modelling of the Manipulator
- Denavit- Hartenberg (DH) Representation
- Inverse Kinematic
- Manipulator Work space
- Solvability of inverse kinematic models: Existence of Solution
- Multiplicity of Solutions
- Solution Techniques
- Guidelines for Closed form Solution
Unit 3 Differential Motion and Statics
- Linear and Angular Velocity of a rigid body
- Relation between transformation matrix and angular velocity
- Mapping velocity vectors
- Linear and Angular velocity of a link
- Manipulator Jacobian
- Jacobian Singularities
- Static analysis of robots
Unit 4 Dynamic Analysis
- Langrangian mechanics
- Lagrange- Euler formulation
- Velocity of point on the manipulator
- The inertia Tensor
- The kinetic Energy
- Newton-Euler Formulation: Kinematic of Links
- Link Acceleration
- Concept of inverse dynamics
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