PR 502: Robot Dynamics

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PR 502 Robot Dynamics Control

• Course Outline Overview
• Number of Credits 03
• Pre-requisites None
• Course Coordinator S.D.Pathirana
• Teaching panel S.D.Pathirana, Asanga
  Ratnaweera
• Departments of Production/Mechanical
  Engieering

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Course Outline

• Introduction
• Basic Concepts in Robotics
• Classification Structure of Robot Systems

3
Course Outline

• Dynamic Analysis
• Coordinate Transformation
• Kinematics Robot Manipulator
• Kinetics Robot Manipulator

4
Course Outline

• Trajectory Planning
• Point to Point Continuous Path Control

5
Course Outline

• Drives Control Systems

• Hydraulic Pneumatics
• Servomotors
• Control approaches

6
Course Outline

• Robot programming

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Teaching Schedule

• Prof.S.D.Pathirana
• Basic Concepts in Robotics
• Classification Structure of Robot Systems
• Drives Control Systems
• Robot Modelling Control
• Dr. Asanga Ratnaweera
• Kinematics Analysis
• Robot Trajectory planning
• Coordinate Transformations

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Teaching Schedule

• Monday Wednesday
• 08.00 am to 09.00 am
• Prof. S.D.Pathirana
• Friday
• 08.00 am to 09.00 am
• Dr.Asanga Ratnaweera
• Experimental schedule will be notified later.
• This schedule is valid only until the Mid
  Semester Exam.

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Lecture Notes and Handouts

• Lecture notes will be available at the following
  URL http//www.pdn.ac.lk/eng/production
• For current students -gt Course notes -gt semester 8

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Experiments Assignment

• A demonstration on robot structure, workspace and
  PTP CP control.
• MATLAB based system identification exercise to
  investigate and analyze dynamic response.
• Robot programming and position control
  experiment.

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Course Evaluation
At least 80 attendance for lectures is
mandatory to sit for the exams