Evolution of Robotics, Robot Controllers – Embedded Controllers, Hardware interfacing – Sensors – Position Sensors, Orientation Sensors, Vision Sensors, Signal Conditioning – Actuators – DC Motors, Stepper Motors, Servos, Pulse Width Modulation, driver circuits.

Robot Control – On/off Control, P, PI and PID Control, Velocity and Position Control – Multiple motor synchronization methods – Human Robot Interaction – Bluetooth, RF, IR, Wi-Fi controller – Robot to Robot communication.

Robotic Motion – Degrees of Freedom – forward kinematics – inverse kinematics – 3D Rotations – manipulator transformation – Sizing and torque calculations – localization – path planning – ROS Installation – basic ROS programming – simulation of 2-wheeled robots in ROS – Robot Arm simulation in ROS – simulation of flying Robots in ROS – Case studies: Mobile robots, industrial robots, UAVs.

Pre-Requisite(s): None
Course Type: Lab

Course Objectives

1. To develop basic understanding of robot functions and configurations.
2. To gain foundations of robot dynamics.
3. To model and simulate robots for any given specifications.

Course Outcomes

CO1: Understand the architecture and components of robot systems.
CO2: Develop kinematic models for various types of mobile robots.
CO3: Apply maneuverability, workspace and motion control algorithms.
CO4: Analyze programs and simulate robots in ROS.

CO-PO Mapping

Evaluation Pattern: 70/30

Note: Continuous assessments can include quizzes, tutorials, lab assessments, case study and project reviews. Midterm and End semester exams can be a theory exam or lab integrated exam for two hours

1. Thomas Braunl, “Embedded Robotics: From Mobile Robots to Autonomous Vehicles with Raspberry Pi and Arduino”, 4th Edition, Springer, 2022.
2. A.Koubaa, “Robot Operating System – The Complete Reference”, 1st Volume, Springer, 2016
3. John J. Craig, “Introduction to Robotics: Mechanics and Control”, 4th Edition, Pearson, 2018.
4. M.Ben-Ari, F.Mondada, “Elements of Robotics”, Springer, 2018.
5. W. Jacak, “Intelligent Robotic Systems: Design, Planning and Control”, Kluwer Academic Publishers, 2002.