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Answer: The main subjects are a) Undergraduate Mathematics -- such as Matrices, Linear Algebra and Differential Equations, b) Mechanical Engineering -- such as Basic mechanics, Dynamics, Theory of machines and Strength of materials, c) Basic electrical and electronics engineering topic on motors, drives and sensors, and d) Computer science and programming using packages such Matlab and C(or C++). In India you have to appear and qualify in GATE and join Mechanical, Electrical & Electronics, Computer Science or other similar departments. For abroad, please check their requirements.
Answer: Question not clear. What is ``construction ppt''?
Answer: What ``construction'' are you talking about? I do not understand your question. Please state your question clearly!
Answer: I do not know about ``building construction''. This course is about robotics!
Answer: I do not know the answer to your question as I am not familiar with high voltage engineering. The only `common sense' answer is that the parts and components of a robot, such as sensors, actuators etc., must be designed to be able to withstand high voltages. Apart from robotics courses, I cannot advise you in any way.
Answer: For a planar motion, a rigid body has 3 degrees of freedom. If there are more than 3 actuators for a planar motion of the rigid body (for example, the end-effector of a robot), the redundant degrees of freedom are `n-3' where `n>3' is the number of actuators. For spatial motion, the number of redundant degrees of freedom are `n-6'.
Answer: There are several books. One is authored by me with the title, ``Robotics: Fundamental Concepts and Analysis'', Oxford University Press, 2006 The details are on slide #5 in Module 0 -- Preface, Information for Students and Teachers, Acknowledgement. The lectures in this NPTEL web course are best followed using my book! You can also read the book by J J Craig, ``Introduction to Robotics: Mechanics and Control''
Answer: That depends on the robotics project and what exactly you want to do in the project. You can do the direct and inverse kinematics by implementing the kinematic equations in Matlab very easily -- please see Module 3. Dynamics will require some more effort. Please take a look at Module 6 and how Maple has been used to obtain terms in the equations of motion of a 2R robot. Similar Maple programs can be written for other robots also. Maple output can be easily ported to Matlab and you will need to write only some simple input/output parts. Likewise trajectory planning and control system simulations can also be done in Matlab. If you see the questions at the end of each module (or the chapters in the book suggested as an accompanying material to the slides) you will find many programming assignments which can be done in Matlab.
Answer: You will need to add the gravity term to the potential energy. Please see Lecture 3* in Module 8, in particular Slide #61. The general expression for the gravity terms for the payload, link and joint is given in brief but you have to work it out to get the actual terms. There are several references which deal with dynamic equations of motion, including gravity, for flexible manipulators. You can look at the book which is suggested as an accompanying material or papers such as [11] listed in Additional Material in Module 8.
Answer: I am assuming that by trapezoidal profile you mean the end-effector motion as a function of time. You also need to decide or choose the end-effector trajectory in space, i.e., the position and orientation of the end-effector. Once both the spatial and time variation of the end-effector is known, one can do inverse kinematics and obtain joint motions. To obtain joint velocities and accelerations, the inverse of the manipulator Jacobian matrix has to be used. Please see Module 5, Lecture 2 and 3 for manipulator Jacobian. Inverse kinematics of serial and parallel robots are discussed in Module 3 and 4, respectively.
Answer: The joint motion, velocity and acceleration can be obtained from trajectory planning as discussed in Module 7, Lecture 1. If the end-effector motion is given, then the inverse kinematics and inverse Jacobian has to be used to obtain joint motion, velocity and acceleration.
Answer: Euler angles are three rotations about axes fixed to the moving rigid body. They are a ``minimal'' representation of the orientation of a rigid body. Euler angles can be used to represent orientation of the end-effector, the object gripped by the robot or any link of a manipulator.
Answer: The Raghavan & Roth method can be applied for any general 6R serial robot. Hence, it should work for 6R serial robots with non-intersecting wrists.
Answer: The Raghavan & Roth method is for a general 6R robot which also INCLUDE robots with non-intersecting wrist. The procedure given is the ``worst'' case and hence the 8 equations are always linear. If the D-H parameters are special (as in joints with parallel axis) or there are Prismatic joints, the set of equations and the elimination can become simpler.
Answer: You are welcome.
Answer: Please get hold of the paper by Raghavan & Roth and follow the steps. The non-intersecting wrist case is nothing special and can be handled by their approach.
Answer: I have not done the steps myself. Please get hold of the paper by Raghavan & Roth and follow the steps and you should be able to get the kinematic equations.
Answer: I do not know how one can get 1 micron from any reasonably sized machine tool or a hexapod. Typical accuracy are of the order of 10 microns with a reasonable payload. Error analysis of hexapod is a research topic and you need to search for papers and relevant literature.
