Course Objective: Basic understanding of Robotics, Familiarity with the control aspects of Robots, Design and control of a Robot, Concepts of Automation
Syllabus:
Introduction
-Robots and automation-classification-specifications-notation-Direct Kinematics-Co-ordinate frames-rotations-Homogeneous coordinates-The Arm equation-Kinematic analysis of a typical Robot-examples-Inverse Kinematics problem-Tool configuration-Inverse kinematics of a typical Robot-examples-Workspace analysis and trajectory planning-Work envelope of different robots-The pick and place operation –Continuous path motion-interpolated motion-Straight line motion-Tool configuration Jacobian matrix and manipulator Jacobian-Manipulator Dynamics-Dynamic model of a robot using Lagrange’s Equation
Robot control
-The control problem-state equations-Single axis PID control-PD gravity control-Computed torque control-Variable Structure control-Impedance control
Robot Vision
-Robot applications-Characteristics-Robot cell design-Types of applications-material handling applications-Machine loading and unloading-spot welding-arc welding-spray painting
Mobile Robots and Control issues
-Industrial automation-General layout-general configuration of an automated flowline-conveyor systems-major features-types-Roller, State wheel, Belt, Chain and overhead trolley-Inspection station with feedback loops to up steam workstations-shop floor control-3 phases-order scheduling
References:
- ‘Fundamentals of Robotics-Analysis and Control’
– Robert J Schilling
– Pearson Education, Asia
- ‘Robotics and Image processing’
– Janakiraman P A
– Tata McGraw Hill, New Delhi
- ‘Automation, Production System, and Computer-Integrated Manufacturing’
– Mikell P Grover
– Prentice-Hall India
- ‘Robotics Technology and Flexible Automation’
– S R Deb
– Tata McGraw Hill, New Delhi
- ‘Modeling and Control of Robot manipulator’
– Lorenzo Sciavicco & Bruno Siciliano
– The McGraw Hill Companies
- ‘Robots and Manufacturing Automation’
– C Roy Asfahl
– John Wiley & Sons
- ‘Robots for Engineering’
– Yoran Kaen
– McGraw Hill
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