Elements of Robot and Kinematics
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Follow on Instagram for UpdatesElements of Robot and Kinematics Syllabus — Unit-wise Content
The official GTU curriculum for Elements of Robot and Kinematics (subject code BE04041011) as prescribed for Robotics · Semester 4 divides the course into 5 units, covering 74 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 (BE04041011)Unit 1 Fundamentals
- What is a Robot? Classification of Robots
- What Is Robotics? History of Robotics
- Advantages and Disadvantages off Robots
- Robot Components
- Robot Degrees of Freedom
- Robot Joints
- Robot Coordinates
- Robot Reference
- Programming Modes
- Robot Characteristics
- Robot Workspace
- Repeatability & Accuracy
- Robot Languages
- Robot Applications
- Selection and Application of Serial Manipulators
- Other Robots and Applications
- Social Issues 08 Program Name: Bachelor of Engineering Level: UG Branch: Robotics and automation Subject Code: BE04041011 Subject Name: Elements of Robots and Kinematics
Unit 2 Robot Actuators and Grippers
- Electric Actuators
- Hydraulic Actuators
- Pneumatic Actuators
- Selection of Motors
- Considerations in Gripper Selection and Design
Unit 3 Robot Sensors, Controllers, Vision and Signal Conditioning
- Sensor Classification
- Internal Sensors
- External Sensors
- Signal Conditioning
- Sensor Selection
- Basic Control Systems Concepts and Models
Unit 4 Kinematics of Robots
- Position Analysis Introduction
- Robots as Mechanisms
- Matrix Representation
- Representation of a Point in Space
- Representation of a Vector in Space
- Representation of a Frame at the Origin of a Fixed Reference Frame
- Representation of a Frame Relative to a Fixed Reference Frame
- Representation of a Rigid Body
- Homogeneous Transformation Matrices
- Representation of Transformations
- Representation of a Pure Translation
- Representation of a Pure Rotation about an Axis
- Representation of Combined Transformations
- Transformations Relative to the Rotating Frame
- Inverse of Transformation Matrices
- Forward and Inverse Kinematics of Robots
- Forward and Inverse Kinematic Equations: Position
- Cartesian (Gantry
- Cylindrical Coordinates
- Spherical Coordinates
- Articulated Coordinates
- Forward and Inverse Kinematic Equations: Orientation
- Yaw (RPY)Angles
- Euler Angles
- Articulated Joints
- Forward and Inverse Kinematic Equations: Position and Orientation
- Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots
- The Inverse Kinematic Solution of Robots
- General Solution for Articulated Robot Arms
- Inverse Kinematic Programming of Robots
- Degeneracy and Dexterity
- The Fundamental Problem with the Denavit-Hartenberg Representation
Unit 5 Differential Motions and Velocities
- Differential Relationships
- Differential versus Large-Scale Motions
- Differential Motions of a Frame versus a Robot
- Differential Motions of a Frame
- Differential Translations
- Differential Rotations about the Reference Axes
- Differential Rotation about a General Axis
- Differential Transformations of a Frame
- Interpretation of the Differential Change
- Differential Changes between Frames
- Differential Motions of a Robot and its Hand Frame
- Calculation of the Jacobian
- How to Relate the Jacobian and the Differential Operator
- Inverse Jacobian
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