Subject Code & Name: RA25301 – Robot Kinematics
Regulation: R-2025
Semester: III (Third Semester)
Branch: B.E. Robotics and Automation (Robotics)
Credits / L-T-P: 4 Credits | L-T-P: 3-0-2
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.
Full Unit-wise Syllabus
Unit I – 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
Unit II – 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.
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
Activities: Assignment – geometrical and algebraic method with numerical values with lab activities for solution verification either software tool or programming or both
Unit III 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.
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
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
Unit IV – 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
Practical: Verification of Inverse Kinematics for 1 and 2 DOF Robot Verification of Inverse Kinematics for 3DOF Robot.
Activities: Assignment – solving inverse kinematics problems of various configuration with lab activities for solution verification either software tool or programming or both
Unit V – 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.
Practical: Verification of Forward Jacobian and Singularity test Verification of Inverse Jacobian Verification of Singularity of the robot configuration
Activities: Assignment – solving forward and inverse Jacobean problems various DOF robot with lab activities for solution verification either software tool or programming or both 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.
Course Outcomes (COs)
- 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 solve forward and inverse kinematics problems of robotic manipulators.
- CO3: Analyze kinematic models of robots to examine workspace, motion characteristics, and singularities.
- CO4: Evaluate robotic configurations and kinematic solutions for accuracy, performance, and feasibility in real world applications.
Assessment Pattern (Quick Note)
- Weightage: Continuous Assessment 50% | End Semester Examinations 50%
- Internal 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%)
Source: Official Anna University – B.E. Robotics and Automation R-2025 Syllabus
Last Updated: September 2026
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