The student should be made:
- To understand the basic concepts associated with the design, functioning, applications and social aspects of robots
- To study about the electrical drive systems and sensors used in robotics for various applications
- To learn about analyzing robot kinematics, dynamics through different methodologies and study various design aspects of robot arm manipulator and end-effector
- To learn about various motion planning techniques and the associated control architecture
- To understand the implications of AI and other trending concepts of robotics
UNIT I FOUNDATION FOR BEGINNERS 9
Introduction — brief history, definition, anatomy, types, classification, specification and need based applications; role and need of robots for the immediate problems of the society, future of mankind and automation-ethical issues; industrial scenario local and global, case studies on mobile robot research platform and industrial serial arm manipulator
UNIT II BUILDING BLOCKS OF A ROBOT 9
Types of electric motors – DC, Servo, Stepper; specification, drives for motors – speed & direction control and circuitry, Selection criterion for actuators, direct drives, non-traditional actuators;Sensors for localization, navigation, obstacle avoidance and path planning in known and unknown environments – optical, inertial, thermal, chemical, biosensor, other common sensors; Case study on choice of sensors and actuators for maze solving robot and self driving cars.
UNIT III KINEMATICS, DYNAMICS AND DESIGN OF ROBOTS & END-EFFECTORS 9
Robot kinematics – Geometric approach for 2R, 3R manipulators, homogenous transformation using D-H representation, kinematics of WMR, Lagrangian formulation for 2R robot dynamics;Mechanical design aspects of a 2R manipulator, WMR; End-effector – common types and design case study.
UNIT IV NAVIGATION, PATH PLANNING AND CONTROL ARCHITECTURE 9
Mapping & Navigation – SLAM, Path planning for serial manipulators; types of control architectures – Cartesian control, Force control and hybrid position/force control, Behaviour based control, application of Neural network, fuzzy logic, optimization algorithms for navigation problems,programming methodologies of a robot
UNIT V AI AND OTHER RESEARCH TRENDS IN ROBOTICS 9
Application of Machine learning – AI, Expert systems; Tele-robotics and Virtual Reality, Micro &Nanorobots, Unmanned vehicles, Cognitive robotics, Evolutionary robotics, Humanoids
The student should be able to:
- Explain the concepts of industrial robots in terms of classification, specifications and coordinate systems, along with the need and application of robots & automation
- Examine different sensors and actuators for applications like maze solving and self driving cars.
- Design a 2R robot & an end-effector and solve the kinematics and dynamics of motion for robots.
- Explain navigation and path planning techniques along with the control architectures adopted for robot motion planning.
- Describe the impact and progress in AI and other research trends in the field of robotics
1. Saeed. B. Niku, Introduction to Robotics, Analysis, system, Applications, Pearson educations, 2002
2. Roland Siegwart, Illah Reza Nourbakhsh, Introduction to Autonomous Mobile Robots, MIT Press, 2011
- 1. Richard David Klafter, Thomas A. Chmielewski, Michael Negin, Robotic engineering: an integrated approach, Prentice Hall, 1989
- 2. Craig, J. J., Introduction to Robotics: Mechanics and Control, 2nd Edition, Addison-Wesley,1989.
- 3. K.S. Fu, R.C. Gonzalez and C.S.G. Lee, Robotics: Control, Sensing, Vision and Intelligence,McGraw-Hill, 1987.
- 4. Wesley E Snyder R, Industrial Robots, Computer Interfacing and Control, Prentice Hall International Edition, 1988.
- 5. Robin Murphy, Introduction to AI Robotics, MIT Press, 2000
- 6. Ronald C. Arkin, Behavior-based Robotics, MIT Press, 1998
- 7. N. P. Padhy, Artificial Intelligence and Intelligent Systems, Oxford University Press, 2005
- 8. Stefano Nolfi, Dario Floreano, Evolutionary Robotics – The Biology, Intelligence and Technology of Self–Organizing Machines (Intelligent Robotics and Autonomous Agents series), MIT Press, 2004.