Course

Unit 1

Introduction: Definition, Classification, Robot Components, Degree of Freedom, Mobile Robots, Robot Characteristics, Robot Workspace, Robot specifications, and programming. Application of Robots. End Effectors- Grippers-Types: Pneumatic, Hydraulic, Magnetic, Vacuum Grippers, Spherical Wrist; Selection and Design Considerations, resolution, accuracy, and repeatability of robot, applications.

Unit 2

Manipulator Dynamics: Lagrangian Mechanics, Dynamical models of multiple DOF robots, robot workspace analysis, Static force analysis of robots, Transformation of forces and moments between coordinate frames. Dynamic algorithms and Introduction to recursive robot dynamics. Trajectory Planning: Robot workspace analysis, joint space trajectories, path and trajectory planning of a robot, Trajectory Interpolation, Setpoint tracking, and Actuator Dynamics. Cartesian- Space Trajectories, Continuous trajectory recording.

Unit 3

Introduction to the concept of Autonomous Systems (AS). Introduction to high-level mission planning and execution of AS. AS for autonomous intelligent inspection. Introduction to safe, reliable, and verifiable AS. Software and Hardware architectures for AS. Introduction to the physical interaction of AS. Perception for AS – Multiple View Geometry, Image Feature Detection and Description, Ranging, 3D Cloud Processing, Object Pose Estimation, State Estimation, Classification, Visual Odometry, SLAM, and Object Detection. Introduction to robust control of AS. Introduction to Machine Learning in AS. Study the current technology and use of intelligent industrial controllers utilized in electric energy, manufacturing, material handling/processing, mass transit, and other industrial plants. Selection and programming of Programmable Automation Controllers (PACs), Programmable Logic Controllers (PLCs), and Distributed Control Systems (DACs).

Course Objectives

• Introduce the modeling, simulation, and control of spatial multi-degree-of-freedom robotic manipulators
• Familiarize on the kinematics and dynamics of robotic manipulators
• To give exposure to autonomous systems, controls, and applications

Course Outcomes

Skills Acquired

Selection of robots, robot programming, trajectory planning, development of autonomous systems

1. Hexmoor, Henry, Essential Principles for Autonomous Robotics, Springer,
2. Yue Yufeng, Wang Danwei, Collaborative perception, localization and mapping for autonomous systems, Springer, 2021.
3. Cameron Hughes, Tracey Hughes, Robot Programming: a Guide to Controlling Autonomous Robots, Que Publishing, 2016
4. Mikell Groover, Automation, Production Systems, and Computer-Integrated Manufacturing, Pearson Education, 2016.