Regulation 2017 EC8074 Robotics and Automation Syllabus

OBJECTIVES:

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

TOTAL:45 PERIODS

OUTCOMES:

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

TEXT BOOKS:

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

REFERENCES:

• 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.