| Course Name | Robotics – Kinematics, Dynamics and Control |
| Course Code | 23AID431 |
| Program | B.Tech in Artificial Intelligence and Data Science |
| Credits | 3 |
| Campus | Coimbatore , Amritapuri ,Faridabad , Bangaluru, Amaravati |
Industrial Robots – Kinematics
Introduction to Industrial Robots and their Applications, Robot Coordinates and Transformations, Forward Kinematics, DH parameters and table, Twists, Inverse Kinematics, Differential kinematics, Trajectory Planning
Industrial Robots – Dynamics and Control
Robot Dynamics, Euler-Lagrange’s Equations, Newton-Euler method, Inverse Dynamics and Trajectory Tracking, PD & PID Control, Adaptive Control, Force Control.
Unit 3: Mobile Robots – Kinematics, Navigation, and Localization
Introduction to Mobile Robots and their Applications, Mobile Robot Kinematics, Robot Navigation and Path Planning, Localization Techniques, Simultaneous Localization and Mapping (SLAM)
Course Objectives
Course Outcomes
After completing this course, students will be able to
|
CO1 |
Develop mathematical models for robot kinematics, dynamics, and control systems to solve problems related to robotic systems. |
|
CO2 |
Implement simple robotic control systems using different types of control algorithms, such as PD, PID, and adaptive control. |
|
CO3 |
Develop machine learning/deep learning models for solving NLP applications Apply gained knowledge of robotic concepts to design and program robots for tasks such as path/trajectory planning, localization, and obstacle avoidance. |
|
CO4 |
Use simulation tools to model and analyze the behavior of robotic systems. |
CO-PO Mapping
|
PO/PSO |
PO1 |
PO2 |
PO3 |
PO4 |
PO5 |
PO6 |
PO7 |
PO8 |
PO9 |
PO10 |
PO11 |
PO12 |
PSO1 |
PSO2 |
PSO3 |
|
CO |
|||||||||||||||
|
CO1 |
3 |
3 |
2 |
1 |
2 |
1 |
1 |
3 |
3 |
2 |
2 |
– |
– |
||
|
CO2 |
3 |
3 |
1 |
1 |
2 |
1 |
1 |
3 |
3 |
2 |
2 |
1 |
– |
||
|
CO3 |
3 |
3 |
2 |
1 |
2 |
1 |
1 |
1 |
3 |
3 |
2 |
3 |
2 |
1 |
|
|
CO4 |
3 |
3 |
3 |
3 |
3 |
1 |
1 |
1 |
3 |
3 |
3 |
1 |
1 |
1 |
Evaluation Pattern
|
Assessment |
Internal/External |
Weightage (%) |
|
Assignments (minimum 2) |
Internal |
30 |
|
Quizzes (minimum 2) |
Internal |
20 |
|
Mid-Term Examination |
Internal |
20 |
|
Term Project/ End Semester Examination |
External |
30 |
Text Books / References
Corke P. Robotics, Vision and Control. Springer; 2017.
Craig J J. Introduction to Robotics: Mechanics and Control. Pearson Publishing, 2017.
Spong M.W., Hutchinson S. and Vidyasagar M, Robot Modeling and Control, Wiley, 2006
Saha S K, Introduction to Robotics, McGraw Hill publishing, 2014
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