Course Details
Subject {L-T-P / C} : CS4326 : Robotics { 3-0-0 / 3}
Subject Nature : Theory
Coordinator : Prof. Anup Nandy
Syllabus
Mathematical formulation of robotics Introduction, definition of robotics, Spatial description and transformation. Homogenous Coordinate Transformation Matrix and its inversion principle, Forward and Inverse Kinematics Problem, D-H Principle. Manipulator Jacobian: Velocity and static forces. Manipulator dynamics: Lagrangian formulation and N-E formulation. Trajectory generation. Linear control of manipulator, Nonlinear control, sensory devices for robots-both external and internal sensors, sensory information fusion using D-S theory,
Course Objectives
- To discuss about the need and application of robotics in our society. To address different types of robots and their functionality in detailed.
Course Outcomes
Students will learn robot programming and how to make a small robot for navigation. <br />Student will learn how to develop algorithm for putting intelligence into robot.
Essential Reading
- J. J. Craig, Introduction to Robotics, Mechanics and Control, Addison Wesley
- K. S. Fu, R. C. Gonzalez and C. S. G Lee, Robotics: Control, Sensing, Vision, and Intelligence, McGraw Hill
Supplementary Reading
- L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators, Springer
- F. L. Lewis, D. M. Dawson, and C. T. Abdallah, Robot Manipulator Control: Theory and Practice, Marcel Dekker