RA25405 Robot Trajectory, Dynamics and Control Laboratory – Semester IV – Robotics

Subject Code & Name: RA25405 – Robot Trajectory, Dynamics and Control Laboratory

Regulation: R-2025

Semester: IV (Fourth Semester)

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

Credits / L-T-P: 2 Credits | L-T-P: 0-0-4

Course Objectives

To develop practical skills in robot kinematics, trajectory planning, dynamic modelling, control, programming, and simulation for industrial robotic applications.

Study of forward kinematics and Jacobian matrix of serial robotic manipulators.
Generation of joint-space and end-effector trajectories for 1-DOF and 2-DOF robotic manipulators.
Generation and analysis of joint-space and Cartesian-space trajectories for multi-axis robotic manipulators.
Optimization of joint angles for a specified end-effector position and orientation.
Analysis of robot singularities and manipulability using Jacobian matrix methods.
Determination of joint torques from end-effector forces using Jacobian transpose techniques.
Development of dynamic models of robotic manipulators using Euler–Lagrange formulation.
Simulation and analysis of robot dynamics considering inertia, Coriolis and gravity effects.
Generation of cubic, quintic and cycloidal trajectories for robotic manipulators.
Implementation of PID-based position and velocity control of robotic joint actuators.
Implementation of computed torque control for manipulator trajectory tracking.
Implementation of force and impedance control strategies for constrained robotic motion.
Study of adaptive control methods for robotic manipulators under varying operating conditions.
Programming and simulation of robotic manipulation tasks using industrial robot simulation platforms.
Programming of serial manipulators for pick-and-place applications.
Programming of serial manipulators for continuous path motion applications.

Industrial 6 Axis Articulated Robot – 2 Nos.
Industrial 4 Axis SCARA Robot – 1 No.
Software: MATLAB / RoboDK / any proprietary software related to the above robots with simulation capabilities (e.g., EPSON – EPSON RC+, ABB – RobotStudio, FANUC – ROBOGUIDE, KUKA – KUKA.Sim).

CO1: Apply robot kinematics, trajectory planning, and dynamic modelling techniques for robotic manipulators.
CO2: Develop and implement robot control, programming, and simulation for industrial robotic applications.

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