Robotics

Course Objectives: 

The goal of the course is to familiarize the students with the concepts and techniques in robotic engineering, manipulator kinematics, dynamics and control, chose, and incorporate robotic technology in engineering systems.

- Make the students acquainted with the theoretical aspects of Robotics

- Enable the students to acquire practical experience in the field of Robotics through design projects and case studies.

- Make the students to understand the importance of robots in various fields of engineering.

- Expose the students to various robots and their operational details.

Course outcomes:

After this completion of this course, the student should be able to

-  Understand the basic components of robots.

- Differentiate types of robots and robot grippers.

- Model forward and inverse kinematics of robot manipulators.

- Analyze forces in links and joints of a robot.

- Programme a robot to perform tasks in industrial applications.

- Design intelligent robots using sensors. 

UNIT - I

Robotics-Introduction-classification with respect to geometrical configuration (Anatomy),Controlled system & chain type: Serial manipulator & Parallel Manipulator. Components of Industrial robotics-precession of movement-resolution, accuracy & repeatability-Dynamic characteristics- speed of motion, load carrying capacity & speed of response-Sensors-Internal

sensors: Position sensors,& Velocity sensors, External sensors: Proximity sensors, Tactile Sensors, & Force or Torque sensors.

UNIT - II

Grippers - Mechanical Gripper-Grasping force-Engelberger-g-factors-mechanisms for  actuation, Magnetic gripper , vaccume cup gripper-considerations in gripper selection & design . Industrial robots specifications. Selection based on the Application .

UNIT - III

Kinematics-Manipulators Kinematics, Rotation Matrix, Homogenous Transformation Matrix,D-H transformation matrix, D-H method of assignment of frames. Direct and Inverse Kinematics for industrial robots. Differential Kinematics for planar serial robots

UNIT - IV

Trajectory planning: Joint space scheme- Cubic polynomial fit-Obstacle avoidance in operation space-cubic polynomial fit with via point, bleding scheme. Introduction Cartesian space scheme. Control- Interaction control, Rigid Body mechanics, Control architecture- position, path velocity, and force control systems, computed torque control, adaptive control, and Servo system for robot control.

UNIT - V

Programming of Robots and Vision System-Lead through programming methods- Teach pendent- overview of various textual programming languages likeVAL etc. Machine (robot) vision.