B.E. (Automation and Robotics) Robotic Control System 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.
Loading syllabus...
Syllabus for Robotic Control system
Module 1: Review of dynamic modelling of robots:
- Introduction to robot control- Necessity of Controllers for Robots, typical block schematic closed loop and feed forward control. Linear control of manipulators - closed-loop control, second-order linear systems, control of second-order systems, control-law partitioning, trajectory following control, Feedback control of single link manipulator, closed loop control of wall following robot- block schematic- sensor selection etc.
Module 2: Nonlinear Control of manipulators
- PD Gravity Control, Computed Torque Control, adaptive control Task Space Control Schemes – resolved motion rate control and resolve motion acceleration control.
Module 3: Force control of manipulators
- Introduction, application of industrial robots to assembly tasks, force control of a mass—spring system, the hybrid position/force control problem, the hybrid position/force control scheme.
Module 4
- Kinematic model of steered robot and differentially driven mobile robot Control of a mobile robot to move to a point, to follow a line, following a path, moving to a pose, Dynamic model of quad copter, Controller design to track any desired trajectory.
Module 5: Vision based Control
- Configuration of a vision system, image segmentation, image interpretation, Pose estimation, Stereo vision, Camera Calibration, Position based visual servoing, Image based visual servoing, Hybrid visual servoing.
Module 6: Case study
- PID Control of single link manipulator and planar 2R manipulator, resolved motion rate control of 2R manipulator, force control of peg in whole assembly task, control of any industrial robot.
Text Books
- 1 Robotics and Control, R K Mittal, I J Nagrath
- 2 Nonlinear systems, Hassan K. Khalil, Pearson
- 3 Introduction to Robotics Mechanics and Control, John J. Craig, 3e, Pearson.
- 4 Robotics: Fundamental Concepts and Analysis, Ashitava Ghosal, Oxford
- 5 Robotics- Modelling planning and control- Bruno Siciliano , Lorenzo Sciavicco Luigi Villani, Giuseppe Oriolo, Springer-Verlag London.
- 6 Peter Corke, “Robotics, Vision and Control-Fundamental Algorithms in MATLAB”, Springer Tracts in Advanced Robotics, volume 73.
- 7 The Robotics Primer-Maja J Matari´c, The MIT Press
- 1 Probabilistic Robotics: Sebastian Thrun, Wolfram Burgard, Dieter Fox, MIT Press
- 2 Modern Robotics Mechanics, Planning and Control, Kevin M. Lynch, Frank C. Park, Cambridge University Press, 2017. 40
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.