Robotics Engineering
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Follow on Instagram for UpdatesRobotics Engineering Syllabus — Unit-wise Content
The official GTU curriculum for Robotics Engineering (subject code 2730808) as prescribed for M(D · Semester 3 divides the course into 6 units, covering 42 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 (2730808)Unit 1 General considerations of Robotic Manipulator
- Robot anatomy
- Feasible configurations of kinematic chains with prismatic
- cylindrical and spherical joints
- Degree of freedoms
- Homogeneous transformation
- Generalized rotations
- Description of robotic pose
- Orientation with RPY and Euler angles (Forward and inverse formulations)
Unit 2 Kinematics of Robotic Manipulators
- Direct Kinematics
- Inverse Kinematics for open and closed architectures
- Work space analysis
- Singularity analysis
- Performance measurement indices (Condition number
- reciprocal condition number
- Manipubality index, GCI, GPI, GSI)
Unit 3 Dynamic Analysis of Robotic Manipulators
- Considerations of forces
- moments and torques for robotic configurations
- Dynamics formulations using Newtonian
- Lagrangian and Hamiltonian principle
- Properties of dynamic equations
Unit 4 Trajectory Generation
- Path and Trajectory
- Joint space versus Cartesian space trajectories
- Higher order polynomials
- Linear function with parabolic blends
- numerical based on different motion trajectories
Unit 5 Introduction to grippers, sensors and actuators
- Types of grippers
- Properties of grippers
- Types of sensors along with working principle
- sensor properties
- Translational and rotary actuators and their selection
Unit 6 Motion Control of Robotic manipulators
- Robotic open and closed loop control systems
- Second order systems
- Non – linear closed loop equation of motion
- Different friction models
- Control of Single axis robotic arm, Generalized motion control laws for robotic manipulators
- Common control system for industrial robots
- Error controlled Robotic dynamics
- Independent joint PID control
- Independent joint PID control with effective joint inertia
- Force control of robotic manipulator
- Tracking error analysis
- Coordinated movement
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