General considerations in path description and generation. MANIPULATOR KINEMATICS: Specifications of matrices, D-H notation joint coordinates and world coordinates Forward and inverse kinematics – problems.ĭifferential transformation and manipulators, Jacobians – problems Dynamics: Lagrange – Euler and Newton – Euler formulations – Problems. MOTION ANALYSIS: Homogeneous transformations as applicable to rotation and translation – problems. Components, Architecture, number of degrees of freedom – Requirements and challenges of end effectors, determination of the end effectors, comparison of Electric, Hydraulic and Pneumatic types of locomotion devices. COMPONENTS OF THE INDUSTRIAL ROBOTICS: Function line diagram representation of robot arms, common types of arms.
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