Course

Unit 1

Evolution of robotics. Robot anatomy- Co-ordinate Systems, Work envelope, types and classification – Specifications – Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay Load – Basic robot motions – Point to point control, Continuous path control. Robot Parts and Their Functions – Need for Robots Different Applications. Robot drive systems: Pneumatic Drives – Hydraulic Drives – Mechanical Drives – Electrical Drives – D.C. Servo Motors, Stepper Motor, A.C. Servo Motors – Salient Features, Applications End Effectors – Grippers – Mechanical Grippers, Pneumatic and Hydraulic Grippers, Magnetic Grippers, Vacuum Grippers; Two Fingered and Three Fingered Grippers; Internal Grippers and External Grippers; Selection and Design Considerations

Unit 2

Coordinate frames. Mapping: Mapping between rotated frames-Mapping between translated frames- Mapping between rotated and translated frames-Description of objects in space-Transformation of vectors – Rotation- translation combined with rotation-translation of vectors-composite transformation-Inverting a homogenous transform-Fundamental rotational matrices.

Direct Kinematic Model – Mechanical structure and notations-Description of links and joints-Kinematic modeling of manipulator-Denavit-Hartenberg Notation-Kinematic Relationship between adjacent links-Manipulator Transformation Matrix.

Inverse Kinematic Model – Manipulator Workspace-Solvability-Solution techniques-Closed form solution.

Unit 3

Imaging components-image representation-picture coding-object recognition and categorization-visual inspection.Robot cell-design and control layouts.

Robot programming Languages –VAL Programming – Motion Commands, Sensor Commands, End effecter commands, and Simple programs.

Industrial Applications – Material Handling, Process, Assembly, Inspection.Non-Industrial Applications.

Course Objectives

• To familiarize robot structures and their workspace and distinguish between different sensors and drives.
• To develop skills in performing spatial transformations and kinematic analysis of robot manipulator.
• To develop knowledge in the Industrial applications of robots using image processing concepts.

Course Outcomes

• CO1: Identify the components of a robot and distinguish the types of robot configurations
• CO2: Compare, evaluate and choose sensors/drives for robots
• CO3: Construct kinematic model of a given manipulator and evaluate whether the inverse kinematic model is solvable
• CO4: Examine the need for vision system in a robotic system
• CO5: Choose and apply appropriate image processing technique for object recognition in robotic systems
• CO6: Design and develop a robotic system for a given industrial application

CO – PO Mapping

Textbook(s)

• Fu, K.S., Gonzalez, R.C. and Lee C.S.G. – ‘Robotics: Control, Sensing, Vision, and Intelligence’ – McGraw Hill, New York, NY – 1987

Reference(s)

• R K Mittal and I J Nagrath, ‘Robotics and Control’, Tata McGraw-Hill Publishing Company Limited, New Delhi, 2003.
• J Craig, ‘Introduction to Robotics: Mechanics and Control’, Addison-Wesley, Reading, MA, 1989 (second edition).

Evaluation Pattern