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# BANNARI AMMAN INSTITUTE OF TECHNOLOGY SATHYAMANGALAM 638 401 DEPARTMENT OF MECHANICAL ENGINEERING LESSON PLAN Sem/Branch/Section Subject Code

e & Name Name of the faculty Unit Sl.No 1 2 3 4 5 6 Activity Topics Skills Addressed Objectives Link Sheet Evocation Introduction S6 III Mechanical A&B 07M601 CNC MACHINES AND ROBOTICS R.Rajiev/ P. Mathan Kumar
Introduction to Robotics

## Time : 75 Min Lesson No-5/5 Description Time ---------5 25

Control of robot manipulators Robot dynamics. Reading, Questioning, Drawing Mind map, Summarizing, Discussion, Drawing diagrams, Expressing orally and in writing. To impart the knowledge on control of robot manipulator and robot dynamics. NIL videos/animations/Objects about phase diagrams

## PPT Enclosed - Annexure I. Faculty Questions enclosed Annexure II.

Survey

Radhakrishnan, P. Computer Numerical Control Machines ", New Central Book Agency, 1992.

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Pg. No.171173

Guided Reading Discussion & Clarifying doubts Mind map Students Summary & Question Assessment Learning Outcomes

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## Faculty Summery enclosed - Annexure V.

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MCQ question and higher order questions Annexure VI Aware about control of robot manipulator

Annexure II. Survey 1.Point out the mechanical actuation of manipulator. 2.Define robot dynamics. 3.Define degree of freedom. Annexure III Guided Reading: NIL Annexure IV Flow chart

Annexure V Students Summary & Question The kinematics model represents the motion of the robot without considering the forces that cause the motion. The dynamics model establishes the relationships between the motion and the forces involved, taking into account the masses and moments of inertia, i.e., the dynamics model considers the masses and inertias involved and relates the forces with the observed motion, or instead calculates the forces necessary to produce the required motion. These topics are considered very important to study and efficient use of industrial robots.

Annexure VI Assessment 1)Forward kinematics is used to find .. a)position of end effector b)joint angles c)adjacent lengths d)none of these 2).. requires the programmer to define a circle in the robot worksspace a)circular interpolation b)linear interpolation c)joint interpolation d)smooth motions 3) Inverse kinematics is a type of ____________________(motion) planning.