Course Details
Subject {L-T-P / C} : ME4136 : Robotics { 3-0-0 / 3}
Subject Nature : Theory
Coordinator : Prof. Dayal Ramakrushna Parhi
Syllabus
Introduction, Automation and Robotics, brief history, Social and economic aspects, Advantages overview of robots and future application Classification & structure of robotic system: Classification, Configuration, wrist, end effectors , Links, Joints, Drive system Control System: Basic control system concepts, model, transformation and block diagrams, controllers ON & OFF, transient response Robot Kinematics: Direct & inverse kinematics, rotation matrix, composite rotation matrix, homogenous transformations, links, joints D-H representation, Geometrical approach of direct & reverse kinematics Robot Arm dynamics: Joint velocities, KE, PE & motion equation of manipulating trajectory planning, joint interpolated trajectory Robot Programming: Languages, Graphics, Storing & operating, Task programs Types of electric, pneumatic and hydraulic system used for robotic application, Description of Sensors used for Robotic Stsems, Description of Mobile Robots, Application of various AI methodology to control robots.
Course Objectives
- To impart basic knowledge and importance on Robotics in Engineering Fields among the students.
- To create the awareness on Robotics in Research and Application area.
Course Outcomes
Knowledge will be gained on application and utility of Robotics used in various sectors and fields.
Essential Reading
- J.J.Craig, Introduction to Robotics, Pearson
- M.P. Groover, M Weiss, R.N. Nagel, N. Odrey, A Dutta, Industrial Robotics Technology, Programming and Application, Tata McGraw-Hill
Supplementary Reading
- Y. Korem, Robotics for engineers, Mc Graw-Hill
- Mordechai Ben-Ari, Francesco Mondada, Elements of Robotics, Springer