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Home / Syllabus / B.E. (Automation and Robotics) / Third Year AR / Semester 5 / Robot Kinematics and Dynamics

B.E. (Automation and Robotics) Robot Kinematics and Dynamics Syllabus - Mumbai University 2026

The University has moved this degree onto NEP 2020 one year at a time. The first and second years are NEP 2020 syllabi; the third and fourth years are still examined on the REV-2019 'C' Scheme, which is what the University sets for them this year.

Robot-Kinematics-and-Dynamics.pdf
Semester 5 · Third Year AR · 3 credits · 100 marks

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Syllabus for Robot Kinematics and Dynamics

Semester 5 · Third Year AR · 3 credits · 100 marks

Robot Mechanisms

  • kinematic Link, Types of links, Kinematics pair, Types of constrained motion, Classification of Kinematics pairs, Kinematics chain, Degrees of freedom of mechanisms, Inversion of mechanism, Analysis of mechanisms such as Gear trains, cams and followers, belt drives, four bar mechanism, slider crank mechanism etc. 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. FORWARD KINEMATIC MODELING – DENAVIT-HARTEBERG (DH) APPROACH Unit Circle Trigonometry - Translation Matrix - Rotation matrix, Euler Angles - Quaternion Fundamental - Dot and Cross Products - Frames and Joint Coordinates - Homogeneous Transformation - D-H and Modified D H Convention and Procedures – Forward kinematics Solution using D-H Convention: 3 DOF wrist, RR Planar, 3 DOF RRP, Cartesian, Cylindrical, Spherical, SCARA and Articulated 3 DOF robots - 3 DOF robot with wrist. INVERSE KINEMATICS MODELING 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

TEXT BOOKS

  • 1 Mikell P. Groover, "Industrial Robotics", McGraw Hill, 2nd edition, 2012.
  • 2 John J. Craig, “Introduction to Robotics”, 3rd Edition, Addison Wesley, ISE 2008.
  • 3 Lynch, Kevin M., and Frank C. Park. Modern Robotics: Mechanics, Planning, and Control 1st ed. Cambridge University Press, 2017.
  • 1 S K Saha, Introduction to Robotics, Tata McGraw-Hill, Second Edition, 2017.
  • 2 Mikell P. Groover, "Industrial Robotics", McGraw Hill, 2nd edition, 2017.
  • 3 Arthor Critchlow, “Introduction to Robotics”, 1st edition, Macmillan, 2009.
  • 4 Mohsen Shahinpoor, “A Robot Engineering Text Book”, 1st edition, Harper and Row, 2004.
  • 5 Deb S.R., “Robotics Technology and Flexible Automation”, 2nd edition, Tata McGraw - Hill Publis Robotics: Control and Programming.
  • 6 J. Srinivas, R. V. Dukkipati, K., “Robotics: Control and Programming”, Narosa Publishing House, 2009.
  • 7 Tsuneo Yohikwa, Foundations of Robotics Analysis and Control, Prentice Hall of India Pvt. Ltd., 2001 8. Bijay K. Ghosh, Ning Xi, T.J. Tarn, Control in Robotics and Automation Sensor - Based integration, Academic Press, 1999.
  • 8 Hartenberg and Denavit, "Kinematics and Synthesis of Linkages", McGraw Hill Book Co.
  • 9 J. E. Shigley and J.J.Uicker Jr., Theory of Machines and Mechanism, McGraw Hill [ISBN019515598X]
  • 10 G K Grover’, “Mechanical Vibration”, Nemchand and brothers. [ISBN8185240752]
  • 11 S. S. Ratan , Theory of Machines, Tata McGraw Hill [ISBN0070591202]
  • 12 Yoram Koren, "Robotics for Engineers", McGraw Hill Book Co.
  • 13 Groover M.P., Weiss M., Nagel R.N., Odrey N.G., "Industrial Robotics Technology-Programming and Applications", McGraw Hill Book Co 15 University of Mumbai

Reproduced from the University of Mumbai syllabus for B.E. (Automation and Robotics) under REV-2019 'C' Scheme, in force from the academic year 2023-24. Wording is as printed in that syllabus. Module numbering is as printed there too.

The complete syllabus

This subject is cut from the University circular for its year. Open a document here if you want the whole thing rather than a single subject.

PDF 7.40 (R-A) B.E. (Automation & Robotics) Sem I & II (Revised, NEP 2020) NEP 2020 syllabus Read full PDF Read
PDF 6.48 (N) B.E. (Automation and Robotics) Sem III & IV (NEP 2020) NEP 2020 syllabus Read full PDF Read
PDF 6.8 (N) B.E. (Automation and Robotics) Third Year, Sem V & VI (REV-2019 'C' Scheme) REV-2019 'C' Scheme syllabus Read full PDF Read
PDF B.E. (Automation and Robotics) Fourth Year, Sem VII & VIII (REV-2019 'C' Scheme) REV-2019 'C' Scheme syllabus Read full PDF Read
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