RA25301 Robot Kinematics L T P C
3 0 2 4
Course Objectives
This course provides a comprehensive understanding of robotic systems, focusing on
kinematic modeling, analysis, and application of serial manipulators. It enables
students to develop mathematical formulations for forward and inverse kinematics,
apply Jacobian concepts, and utilize modern tools for simulation and verification of
robotic motion.
Overview of Robotics: Introduction to Robotics - History - Definitions - Law of
Robotics – Types of Robots– Terminologies – Classifications Overview – Links &
Joints - Degrees of Freedoms - Coordinate Systems - Work Volume - Precision,
Repeatability & Accuracy - Position and Orientation of Objects - Roll, Pitch and Yaw
Angles - Joint Configuration of Five Types of Serial Manipulators - Wrist Configuration
- End Effector - Manipulability of Manipulators -Selection and Application of Serial
Manipulators and end effector
Activities: Assignments on Sketching Joints, Robot Configuration & Gripper In 3D –
Quiz on Fundamentals of Robotics Terminologies
Forward Kinematics - Geometrical and Algebraic Approach: Need for Forward
and Inverse Kinematics Equation – Parameters in Design and Control – Methods of
Forward and Inverse Kinematics- Geometrical and Algebraic Approach in Forward
Kinematics Solution, 1 DOF - 2 DOF Planar Robot (2P and 2R); 3DOF 2RP Spatial
Robot.
Activities: Assignment – geometrical and algebraic method with numerical values with
lab activities for solution verification either software tool or programming or both
Practical :
• Verification of Forward Kinematics for 1 and 2 DOF Robot in geometrical
approach
• Verification of Forward Kinematics for 2DOF Robot by using D-H transformation
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Forward Kinematic Modeling – Denavit-Harteberg (Dh) Approach: Unit Circle
Trigonometry - Translation Matrix - Rotation Matrix, Euler Angles - Frames and Joint
Coordinates - Homogeneous Transformation - D-H Convention and Procedures and
Solutions: 3 DOF Wrist, RR Planar, 3 DOF RRP, Cartesian, Cylindrical, Spherical,
SCARA and Articulated 3 &4 DOF Robots - 3 DOF Robot with Wrist – 6 DOF robots.
Activities: Assignment – assessing robot datasheets for formulation of DH table,
Assignment on homogeneous transformation problem with rotation and translations, –
solving forward kinematics (FKE) – various robot configuration with lab activities for
solution verification either software tool or programming or both
Practical :
• Verification of translational and rotational motion using HTM Module.
• Verification of Forward Kinematics for 3DOF Robot.
• Verification of Forward Kinematics for 6 DOF Robot by using D-H
transformation
Inverse Kinematics: Introduction to Inverse Kinematics -Issues in Inverse kinematics
- Inverse kinematics of 2 DOF Planar robot - 2 and 3 DOF planar and Spatial robot -
Tool Configuration - Inverse Kinematics of 3 Axis Robot and 6 Axis Robot - Inverse
kinematics Computation- Closed Loop Solution
Activities: Assignment – solving inverse kinematics problems of various configuration
with lab activities for solution verification either software tool or programming or both
Practical :
• Verification of Inverse Kinematics for 1 and 2 DOF Robot
• Verification of Inverse Kinematics for 3DOF Robot.
Jacobian and Differential Motion: Forward and Inverse Jacobian- Introduction -
Singularity - Linear and Angular Velocity of End Effector using Jacobian - Differential
Operator - Finding New Location of End Effector Based on Differential Motion.
Activities: Assignment – solving forward and inverse Jacobean problems various
DOF robot with lab activities for solution verification either software tool or
programming or both
Practical :
• Verification of Forward Jacobian and Singularity test
• Verification of Inverse Jacobian
• Verification of Singularity of the robot configuration
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Tasks:
T1. Design a robotic pick-and-place manipulator for industrial assembly applications
using forward and inverse kinematics.
T2. Develop the kinematic model of a robotic welding arm for accurate end-effector
positioning and orientation.
T3. Design a SCARA robot for electronic component assembly considering workspace
and joint constraints.
T4. Analyze the motion and singularity of a 6-DOF articulated robotic arm using Jacobian
methods.
Weightage: Continuous Assessment: 50%, End Semester Examinations: 50%
Assessment Methodology:
Written Test (40%), Practical (30%), Activity (30%).
Practical: Lab Experiments (50%), Tasks (50%) (Each student must complete a
minimum of two tasks).
Activity: Review of GATE/ESE Questions (10%), Mini Project/ Quiz/ Assignment
Programs/ Flipped Class /Seminar Presentation (20%)
References:
1. John J. Craig, “Introduction to Robotics”, 3rdEdition, Addison Wesley, ISE 2020.
2. Mikell P. Groover, "Industrial Robotics", McGraw Hill, 2ndedition, 2017.
3. S K Saha, Introduction to Robotics, Tata McGraw-Hill, 2nd edition, 2019.
4. Arthor Critchlow, “Introduction to Robotics”, 1stedition, Macmillan, 2009.
5. Mohsen Shahinpoor, “A Robot Engineering Text Book”, 1stedition, Harper and
Row, 2004.
6. Deb S.R., “Robotics Technology and Flexible Automation”, 2 ndedition, Tata
McGraw - Hill Publisher, 2017.
7. J. Srinivas, R. V. Dukkipati, K., “Robotics: Control and Programming”, Narosa
Publishing House, 2009.
8. Tsuneo Yohikwa, Foundations of Robotics Analysis and Control, Prentice Hall of
India Pvt. Ltd., 2016.
9. King-Sun Fu, [Link] Lee, Ralph Gonzalez, "Robotics: Control, Sensing,
Vision and Intelligence", Tata McGraw Hill, 1986
10. Peter Corke, "Robotics, Vision and Control: Fundamental Algorithms in MATLAB",
Springer, 2011.
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CO CO Description PO PSO
CO1 Explain fundamental concepts of robotics including – –
classifications, configurations, forward and inverse
kinematics, D-H modeling, and Jacobian concepts.
CO2 Apply geometric, algebraic, and D-H approaches to PO1 (3), PSO2 (2)
solve forward and inverse kinematics problems of PO2 (3),
robotic manipulators. PO5 (2)
CO3 Analyze kinematic models of robots to examine PO2 (3), PSO1 (2),
workspace, motion characteristics, and singularities. PO4 (2) PSO2 (2)
CO4 Evaluate robotic configurations and kinematic solutions PO2 (3), PSO1 (3),
for accuracy, performance, and feasibility in real-world PO3 (3), PSO2 (2)
applications. PO4 (2)
(1) = Low; (2) = Medium; (3) = High
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