Robotics

Syllabus:

INTRODUCTION (04 Hours)

Background – Historical development – Robot arm kinematics & dynamics – Manipulator trajectory planning & motion control – Robot sensing – Robot programming language – Machine intelligence.

ROBOT ARM KINEMATICS (07 Hours)

Introduction – The direct kinematics problem – The inverse kinematics solution.

ROBOT ARM DYNAMICS (07 Hours)

Introduction – Lagrange-Euler formulation – Newton-Euler formulation – Generalized D’Alembert equations of motion.

PLANNING OF MANIPULATOR TRAJECTORIES (05 Hours)

Introduction – General considerations in trajectory planning – Joint interpolated trajectories – Planning of manipulation of Cartesian path trajectories.

CONTROL OF ROBOT MANIPULATORS (06 Hours)

Introduction – Control of puma robot arm – Computed torque technique – Near minimum time control – Variable structure control – Nonlinear decoupled feedback control – Resolved motion control – Adaptive control.

ROBOT END EFFECTORS (05 Hours)

Types of end effectors – Mechanical grippers – Types of grippers – Tools as end effectors – Robot-End effecter Interface – Gripper selection & design.

SENSORS IN ROBOTICS (05 Hours)

Introduction – Transducers & sensors – Sensors in robotics – Range sensing – Proximity sensors –Touch sensors – Tactile sensors – Force & torque sensor – Misc. sensors & sensor based system.

LOW-LEVEL VISION (04 Hours)

Introduction – Image acquisition – Illumination technique – Imaging geometry – Relationship between pixels – Preprocessing.

ROBOT PROGRAMMING LANGUAGES (02 Hours)

Introduction – Characteristics of robot level languages – Characteristics of task level languages.

(Total Lecture Hours: 45)

BOOKS RECOMMENDED

1. Fu K. S., “Robotics”, Mc-Graw Hill, 2003.

2. Craig J.J., “Introduction to Robotics”, Pearson Education, 2006.

3. Rivin E.I., “Mechanical Design of Robots ”, McGraw Hill, 2002.

4. Schilling R.J., “Fundamentals of Robotics”, Prentice Hall India, 2002.

5. Groover, Weiss, Nagel and Odrey, “Industrial Robotics”, McGraw Hill, 1988

Useful Links:

• Syllabus_Website(PDF): Click Here
• Robotics Combined(PDF): Click Here
• Robotics_Control_Sensing_Vision_and_Inte(PDF): Click Here