Course Details
Subject {L-T-P / C} : EE4302 : Robotics and Computer Vision { 3-0-0 / 3}
Subject Nature : Theory
Coordinator : Prof. Bidyadhar Subudhi
Syllabus
Automation and Robotics, Basic Structureof Robots, Robot Anatomy, Classification of Robots, Fundamentals about Robot Technology, Factors related to use Robot Performance, Basic Robot Configurations and their Relative Merits and Demerits, the Wrist & Gripper Subassemblies.
Kinematics of Robot Manipulator:
Direct Kinematics problem, Geometry Based Direct kinematics problem, Co-ordinate and vector transformation using matrices, Rotation matrix, Inverse Transformations, Problems, Composite Rotation matrix, Homogenous Transformations,, Robotic Manipulator Joint Co-Ordinate System, Euler Angle & Euler Transformations, RollPitch-Yaw(RPY) Transformation,. D-H Representation & Displacement Matrices for Standard Configurations, Jacobian Transformation in Robotic Manipulation.
Trajectory Planning:
Trajectory Interpolators, Basic Structure of Trajectory, Interpolators, Cubic Joint Trajectories. General Design Consideration on Trajectories:- 4-3-4 & 3-5-3 Trajectories
Dynamics of Robotic Manipulators:
Introduction,. Preliminary Definitions, Generalized Robotic Coordinates, Jacobian for a Two link Manipulator, Euler Equations, The Lagrangian Equations of motion. Application of Lagrange–Euler Dynamic Modeling of Robotic Manipulators: - Velocity of Joints, Kinetic Energy of Arm, Potential Energy of Robotic Arm, The Lagrange , Two Link Robotic Dynamics with Distributed Mass.
Control design for Robotic System:
Control Loops of Robotic Systems, trajectory, velocity and force control, Computed Torque control, Linear and Nonlinear controller design of robot.
Robot Sensing & Vision:
Use of Sensors and Sensor Based System in Robotics, Machine Vision System, Description, Sensing, Digitizing, Image Processing and Analysis and Application of Machine Vision System, Robotic Assembly Sensors and Intelligent Sensors, visual servo-control.
Application of Robotics:
Applications of robotics in active perception, medical robotics, autonomous vehicles, and other areas.
Course Objectives
- To learn kinematics and dynamics
- To devlop controllers for tracking a desired trajectory by a robot
- To learn computer vision for robot motion control
Course Outcomes
To learn about kinematics and dynamics <br />To design controllers for tracking control of a robot <br />To apply computer vision for motion control of robotic systems
Essential Reading
- Fu, Lee and Gonzalez., Robotics, control vision and intelligence-, McGraw Hill International, 2nd edition, 2007
- John J. Craig, Introduction to Robotics-, Addison Wesley Publishing, 3rd edition, 2010
Supplementary Reading
- YoramKoren, Robotics for Engineers, McGraw Hill International, 1st edition, 1985
- Klafter, Chmielewski and Negin, Robotic Engineering - An Integrated approach,, PHI, 1st edition, 2009.