| Course Name | Robotics |
| Course Code | 19CCE341 |
| Program | B. Tech. in Computer and Communication Engineering |
| Year Taught | 2019 |
Representing Position and Orientation-Orientation and pose in 2D and3D – Normalization-exponential mapping –twists -Dual Quaternions-Configuration Space – Time and Motion -Time-Varying Pose -Accelerating Bodies and Reference Frames -Creating Time-Varying Pose –Applications.
Mobile Robot Vehicles -Wheeled Mobile Robots -Flying Robots -Navigation-Reactive Navigation -Map-Based Planning – Localization -Dead Reckoning -Localizing with a Map – Creating a Map – Localization and Mapping – Rao-Blackwellized SLAM – Pose Graph SLAM – Sequential Monte-Carlo Localization – Applications.
Arm -Type Robots-Forward Kinematics -Inverse Kinematics –Trajectories – Manipulator Velocity -Manipulator Jacobian -Jacobian Condition and Manipulability -Resolved-Rate Motion Control -Under and Over-Actuated Manipulators -Force Relationships -Inverse Kinematics -Computing the Manipulator Jacobian Using Twists – Dynamics and Control -Independent Joint Control -Rigid-Body Equations of Motion -Forward Dynamics –RigidBody Dynamics Compensation.
Evaluation Pattern
| Assessment | Internal | External |
| Periodical 1 (P1) | 15 | – |
| Periodical 2 (P2) | 15 | – |
| *Continuous Assessment (CA) | 20 | – |
| End Semester | – | 50 |
| *CA – Can be Quizzes, Assignment, Projects, and Reports. | ||
Objectives
Course Outcomes
CO – PO Mapping
| PO/PSO/CO | PO1 | PO2 | PO3 | PO4 | PO5 | PO6 | PO7 | PO8 | PO9 | PO10 | PO11 | PO12 | PSO1 | PSO2 |
| CO1 | 3 | – | 2 | – | – | – | – | – | – | – | – | – | – | – |
| CO2 | 3 | – | 3 | – | – | – | – | – | – | – | – | – | – | – |
| CO3 | 3 | 3 | 3 | – | – | – | – | – | – | – | – | – | 2 | 2 |
| CO4 | 3 | 3 | 3 | – | – | – | – | – | – | – | – | – | 2 | 2 |
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