RA25402 Robot Trajectory, Dynamics and Control – Semester IV – Robotics – R-2025

Subject Code & Name: RA25402 – Robot Trajectory, Dynamics and Control

Regulation: R-2025

Semester: IV (Fourth Semester)

Branch: B.E. Robotics and Automation (Robotics)

Credits / L-T-P: 3 Credits | L-T-P: 3-0-0

Course Objectives

• To understand robot trajectory planning, manipulator dynamics, and robot control techniques.
• To develop the ability to model, analyze, and control robotic systems for industrial and collaborative applications.

Full Unit-wise Syllabus

Unit I – Trajectory Planning Approaches

Definitions of Task Planning and Trajectory Planning – Representation of End-Effector in Joint Space and Cartesian Space – Workspace and Work Envelope Analysis – Point-to-Point and Continuous Path Motion – Trajectory Planning Approaches – Robot Programming Concepts – Applications and Case Studies. Joint Space Trajectory Planning – Motion Profiles – Cubic and Quintic Polynomial Trajectories – Linear Segments with Parabolic Blend (LSPB) – Cycloidal Motion Profiles – Cartesian Space Trajectory Planning – Straight Line and Circular Trajectories – Velocity and Acceleration Constraints – Optimization of Joint Angles for a Given End-Effector Pose – Motion Planning Algorithms

Unit II – Dynamic Modelling of Robot Manipulators

Introduction to Robot Dynamics – Generalized Coordinates and Generalized Forces – Coordinate Transformations – Rigid Body Dynamics – Free Body Diagrams – Static and Dynamic Force Analysis – Mass and Inertia Properties – Jacobian Matrix – Velocity and Acceleration Analysis – Newton– Euler Equations – Kinetic and Potential Energy – Euler–Lagrange Formulation – Equations of Motion – Lagrangian Multipliers – Hamiltonian Formulation – State-Space Representation – Dynamic Modelling of 2-DOF and 3-DOF

Unit III – Robot Control Systems

Manipulator Control Problem – Position, Velocity and Torque Control – PID Controllers – Joint Space and Cartesian Space Control – Computed Torque Control – Linear and Nonlinear Control Systems – Linearization of Nonlinear Systems – Time Varying Systems – Input–Output Stability – Multi-Input Multi-Output (MIMO) Systems – Robotic Sensors and Vision Systems – Industrial Robot Control Architectures.

Unit IV – Advanced Dynamics and Force Control

Constrained Dynamics – Dynamic Analysis of Multi-Link Manipulators – Force/Torque Relationships – Contact and Constraint Modelling – Impedance and Admittance Control – Hybrid Position/Force Control – Adaptive Control – Lyapunov Stability Analysis – Feedback Linearization – Singularities in Robotic Systems – Compliance and Force Control Strategies – Applications in Assembly and Collaborative Robotics.

Course Outcomes (COs)

• CO1: Explain the principles of robot trajectory planning, manipulator dynamics, and robot control systems.
• CO2: Apply trajectory planning and dynamic modelling techniques for robotic manipulators and motion control problems.
• CO3: Analyze robot dynamics, stability, and force interactions using control and modelling approaches.
• CO4: Design and evaluate robot control strategies for industrial, collaborative, and force control applications.

Assessment Pattern (Quick Note)

• Weightage: Continuous Assessment 40% | End Semester Examinations 60%
• Internal methodology: Quiz (5%), Assignments (25%), Review of GATE/ESE Questions (20%), Internal Examinations (50%)

Source: Official Anna University – B.E. Robotics and Automation R-2025 Syllabus
Last Updated: October 2026