To provide comprehensive knowledge of robotics in the design, analysis and control point of view.
To study the various parts of robots and fields of robotics.
To study the various kinematics and inverse kinematics of robots.
To study the Euler, Lagrangian formulation of Robot dynamics.
To study the trajectory planning for robot.
To study the control of robots for some specific applications.
To educate on various path planning techniques
To introduce the dynamics and control of manipulators
UNIT I BASIC CONCEPTS 9
Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Robot classifications and specifications- Asimov’s laws of robotics – dynamic stabilization of robots.
UNIT II POWER SOURCES, SENSORS AND ACTUATORS 9
Hydraulic, pneumatic and electric drives: Design and controlissues – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics –
machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors.
UNIT III MANIPULATORS AND GRIPPERS DIFFERENTIAL MOTION 9
Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers – design considerations.
UNIT IV KINEMATICS AND PATH PLANNING 9
Linear and angular velocities-Manipulator Jacobian-Prismatic and rotary joints–Inverse -Wrist andarm singularity – Static analysis – Force and moment BalanceSolution kinematics problem – robot programming languages.
UNIT V DYNAMICS AND CONTROL AND APPLICATIONS 9
Lagrangian mechanics-2DOF Manipulator-Lagrange Euler formulation-Dynamic model – Manipulatorcontrol problem-Linear control schemes-PID control scheme-Force control of robotic manipulator.Mutiple robots – machine interface – robots in manufacturing and non- manufacturing
applications – robot cell design – selection of robot.
TOTAL : 45 PERIODS
At the end of the course, the student should be able to:
Understand the evolution of robot technology and mathematically represent different types of robot.
Get exposed to the case studies and design of robot machine interface.
Familiarize various control schemes of Robotics control
- Mikell P. Weiss G.M., Nagel R.N., Odraj N.G., Industrial Robotics, McGraw-Hill Singapore, 2015.
- Saeed B Niku, Introduction to Robotics, Analysis, Systems, Applications
Prentice Hall, 3 edition 2104.
- Deb.S.R., Robotics technology and flexible Automation, John Wiley, USA 1992.
- Asfahl C.R., Robots and manufacturing Automation, John Wiley, USA 1992.Klafter R.D., Chimielewski T.A., Negin M., Robotic Engineering – An integrated approach, Prentice Hall of India, New Delhi, 1994.
- R.K.Mittal and I.J.Nagrath, Robotics and Control, Tata McGraw Hill, New Delhi,4th Reprint, 2005
- JohnJ.Craig ,Introduction to Robotics Mechanics and Control, Third edition, Pearson Education,2009.
- Issac Asimov I Robot, Ballantine Books, New York, 1986.