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CODE COURSE NAME CATEGORY L T P CREDIT

KINEMATICS, PROGRAM
221TIA003 DYNAMICS AND 3 0 0 3
CORE 1
CONTROL OF ROBOTS

Preamble This course helps the student with the basic idea of Robots. Concepts like
trajectory planning and obstacle avoidance and kinematics of robots are introduced.
Discussion on various mobile robots and robotic manipulators are also included as part of the
course to get an overall idea on robotics

Course Outcomes: After the completion of the course the student will be able to

CO 1 Familiarise with anatomy, specifications and standard robot configurations

CO 2 Obtain the forward and inverse kinematic model of a robotic manipulator
CO 3 Plan trajectories for robots
CO 4 Obtain the dynamic model of robots
CO 5 Design controllers for robotic manipulators
CO 6 Design controllers for mobile robots

Mapping of course outcomes with program outcomes

PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7
CO 1 3 2 3
CO 2 3 2 3
CO 3 3 2 3 3 3
CO 4 3 2 3 3 3
CO 5 3 2 3 3 3
CO 6 3 2 3 3 3

Assessment Pattern

Bloom’s Category End Semester Examination

Apply 30
Analyse 30
Evaluate 30
Create 10

Mark distribution

Total ESE
CIE ESE
Marks Duration

100 40 60 2.5 hours

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Continuous Internal Evaluation Pattern:

Evaluation shall only be based on application, analysis or design based questions (for both
internal and end semester examinations).

Continuous Internal Evaluation: 40 marks

Micro project/Course based project : 20 marks

Course based task/Seminar/Quiz : 10 marks

Test paper, 1 no. : 10 marks

The project shall be done individually. Group projects are not permitted. The project may include the

implementation of theoretical computation using software packages. The test papers hall include a

minimum 80% of the syllabus.

(Test paper shall include minimum 80% of the syllabus.)

End Semester Examination Pattern:

End Semester Examination :60 marks

Part A: 5 numerical/short answer questions with 1 question from each module, (such
questions shall be useful in the testing of knowledge, skills, comprehension, application,
analysis, synthesis, evaluation and understanding of the students). Students should answer all
questions.
Each question can carry 5 marks.

Part B: 7 questions (such questions shall be useful in the testing of overall achievement and
maturity of the students in a course, through long answer questions relating to
theoretical/practical knowledge, derivations, problem solving and quantitative evaluation),
with minimum one question from each module of which student should answer any five.
Each question can carry 7 marks.
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Model Question Paper

Slot: B
APJ ABDULKALAM TECHNOLOGICAL UNIVERSITY
FIRST SEMESTER M.TECH DEGREE EXAMINATION
MONTH & YEAR
Course code: 221TIA003
Course Name:Kinematics Dynamics and Control of Robots

Max. Marks: 60 Duration: 2.5 Hours

PART A
Answer all Questions. Each question carries 5 Marks
1 What do you mean by DOF? What are redundant manipulators? Explain with the help
of an example.
2 If a point𝑃 = [30 − 11]𝑇, find the new location of the point P, if it is (i) rotated by 𝜋
about z-axis of fixed frame and then translated by 3 units along y axis (ii) it is first
translated by 3 units along y axis and then rotated about z axis by𝜋. Are the two
locations same. Explain why the final position in two cases is same or different.
3 One revolute joint of SCARA robotic manipulator is to move from 30 0to 1200 in 7
seconds. If the joint has initial and final velocity of 1.0deg/sec and 1.2deg/s
respectively. Determine the cubic polynomial to interpolate a smooth trajectory. Also
obtain the velocity and acceleration profiles of the joint.
4 Compare position vs force control.
5 Compare a differential drive WMR and a car like WMR.
PART A
Answer any 5 Questions. Each question carries 7 Marks
6 Explain how robots are classified based on work envelope geometries and drive
technologies.
7 For the following cylindrical robot arm, compute the position and orientation of the
tool tip.
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8 Determine the joint angles θ1, θ2, θ3 of a 3 axis robot if the origin of {3} is located at
[0.707, 1.707, 0.000]T and the orientation of {3} with respect to {0} is given by the
rotation matrix 𝑅 = [0.5 − 0.86600.8660.50001] . Given 𝑇30 = [𝐶123 −𝑆123 0𝐿1𝐶1 +
𝐿2𝐶12𝑆123 𝐶123 0𝐿1𝑆1 + 𝐿2𝑆1200100001]
9 Which algorithm can be used to find a path from start to goal in the following
scenario? Explain the algorithm.

10 Obtain the dynamic model of a 1DOF robotic manipulator.

11 Suppose a robotic manipulator is to be designed to erase a white board, which
control scheme can be used? Give the details of the controller.
12 Design a control scheme to drive a differential drive robot to follow a circular
trajectory
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Syllabus

Module I:

Introduction

Robots, Robotics; Types of Robots- Manipulators, Mobile Robots-wheeled & Legged

Robots, Aerial Robots; Anatomy of a robotic manipulator-links, joints, actuators, sensors,
controller; open kinematic vs closed kinematic chain; degrees of freedom; Robot
considerations for an application, Classification of End effectors - mechanical grippers,
special tools, Magnetic grippers, Vacuum grippers, adhesive grippers, Active and passive
grippers, selection and design considerations of grippers in robot.

Robot configurations-PPP, RPP, RRP, RRR; features of SCARA, PUMA Robots;

Classification of robots based on drive technologies and motion control methods.

Case study- sensors and actuators of robots (demo/assignment only)

Module II
Kinematics
Robot Coordinate Systems- Fundamental and composite rotations, homogeneous co-ordinates
and transformations, Kinematic parameters, D-H representation, Direct Kinematics,
Necessity of kinematic modelling, The Arm equation- forward Kinematic analysis of a
typical robots up to 3 DOF. The inverse kinematics problem, general properties of solutions,
Inverse kinematics of robots up to 3 DOF. Tool configuration vector and Jacobian.
Linear and angular velocities of rigid body, Linear and angular velocities of 3R manipulator,
relation between joint and end effector velocities.

Inverse kinematics of 3DOF manipulator with concurrent wrist (demo/assignment only)

Module III
Trajectory Planning and Dynamics of Robots
Trajectory Planning- joint space trajectory planning-cubic polynomial, linear trajectory with
parabolic blends; Cartesian space planning. Obstacle avoidance methods- Artificial Potential
field, A* algorithms.

Dynamics- Necessity of dynamic modelling, dynamic model of a robot using Lagrange’s

equation, dynamic modelling of 1DOF robot, modelling including motor and gearbox, 2R
planar manipulator.

Module IV
Control of robotic manipulators
Necessity of a control system in a robot, block diagram typical robot control system, position
control, force control.
PID control, PD gravity control, Computed torque control, Variable Structure control,
Impedance control, digital control of a single link manipulator.
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Case study- Control of a single link and two link manipulator using MATLAB/ROS.
(Assignment/demo only)

Module V
Control of mobile robots
Basic understanding of Differential-Drive WMR, Car-Like WMR, Three-Wheeled
Omnidirectional Mobile Robot, Kinematic model of a differential drive and a steered mobile
robot.

Control of mobile robots- Control of differential drive robot and steered robot based on its
kinematic model, Control of differential drive robot to move to a point, follow a line, follow a
trajectory, to achieve an orientation. Control of a steered robot to move to a point, follow a
line, follow a trajectory, to achieve an orientation.

Case study- design and implementation of a controller for a differential drive robot capable
of moving to a point, following a line and following a path using MATLAB
(Assignment/demo only)

References

1. Robert. J. Schilling , “Fundamentals of robotics – Analysis and control”, Prentice

Hall of India 1996.
2. R K Mittal and I J Nagrath, “Robotics and Control”, Tata McGraw Hill, New
Delhi,2003.
3. Introduction to Robotics by S K Saha, Mc Graw Hill Education
4. Introduction to Robotics (Mechanics and control), John. J. Craig, Pearson
Education Asia 2002.
5. AshitavaGhosal, “Robotics-Fundamental concepts and analysis”, Oxford
University press.
6. Introduction to Autonomous Mobile Robots , R Siegwart, IR Nourbakhsh, D
Scaramuzza, , MIT Press, USA, 2011.
7. Peter Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB

Course plan

No. of
No Topic
Lectures
1 Introduction
Robots, Robotics; Types of Robots- Manipulators, Mobile Robots-
wheeled & Legged Robots, Aerial Robots; Anatomy of a robotic
1.1 2
manipulator-links, joints, actuators, sensors, controller; open kinematic
vs closed kinematic chain, ; degrees of freedom;
Robot considerations for an application- Number of Axes, Capacity
1.2 and Speed, Reach and Stroke, Tool Orientation, Repeatability, 1
Precision and Accuracy, Operating environment
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Classification of End effectors - mechanical grippers, special tools,

Magnetic grippers, Vacuum grippers, adhesive grippers, Active and
1.3 passive grippers, selection and design considerations of grippers in 2
robot.

Robot configurations-PPP, RPP, RRP, RRR; features of SCARA,

PUMA Robots; Classification of robots based on drive technologies
1.4 and motion control methods. Case study- sensors and actuators of 3
robots (demo/assignment only)

2 Kinematics
Robot Coordinate Systems- Fundamental and composite rotations,
2.1 2
homogeneous co-ordinates and transformations
Kinematic parameters, D-H representation, Direct Kinematics,
2.2 Necessity of kinematic modelling, The Arm equation- forward 2
Kinematic analysis of a typical robots up to 3 DOF.
The inverse kinematics problem, general properties of solutions,
2.3 1
Inverse kinematics of robots up to 3 DOF.
Tool configuration vector and Jacobian, Linear and angular velocities
2.4 of rigid body, Linear and angular velocities of 3R manipulator, relation 2
between joint and end effector velocities.
Inverse kinematics of 3DOF manipulator with concurrent wrist
2.5 1
(demo/assignment only)
3 Trajectory Planning and Dynamics of Robots
Trajectory Planning- joint space trajectory planning-cubic polynomial,
3.1 2
linear trajectory with parabolic blends;
3.2 Cartesian space planning 1
3.3 Obstacle avoidance methods- Artificial Potential field, A* algorithms 2
Dynamics- Necessity of dynamic modelling, dynamic model of a robot
3.4 using Lagrange’s equation, dynamic modelling of 1DOF robot, 3
modelling including motor and gearbox, 2R planar manipulator.
4 Control of robotic manipulators
Necessity of a control system in a robot, block diagram typical robot
4.1 3
control system, position control, force control.
PID control, PD gravity control, Computed torque control, Variable
4.2 Structure control, Impedance control, digital control of a single link 4
manipulator
Case study- Control of a single link and two link manipulator using
4.3 1
MATLAB/ROS. (Assignment/demo only)
5 Control of mobile robots
Basic understanding of Differential-Drive WMR, Car-Like WMR,
5.1 Three-Wheeled Omnidirectional Mobile Robot, Kinematic model of a 2
differential drive and a steered mobile robot.
Control of mobile robots- Control of differential drive robot and
5.2 2
steered robot based on its kinematic model,
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Control of differential drive robot to move to a point, follow a line,

5.3 2
follow a trajectory, to achieve an orientation.
Control of a steered robot to move to a point, follow a line, follow a
5.4 1
trajectory, to achieve an orientation.
Case study- design and implementation of a controller for a differential
5.5 drive robot capable of moving to a point, following a line and 1
following a path using MATLAB (Assignment/demo only)