Syllabus

Evolution of robotics. Robot anatomy – Design and control issues. Manipulation and Control – Sensors and Vision.
Coordinate frames. Mapping: Mapping between rotated frames – Mapping between translated frames – Mapping between rotated and translated frames – Description of objects in space – Transformation of vectors – Rotation – translation combined with rotation – translation of vectors – composite transformation – Inverting a homogenous transform – Fundamental rotational matrices.
Direct Kinematic Model – Mechanical structure and notations – Description of links and joints – Kinematic modeling of manipulator – Denavit-Hartenberg Notation – Kinematic Relationship between adjacent links – Manipulator Transformation Matrix.
Inverse Kinematic Model – Manipulator Workspace – Solvability – Solution techniques – Closed form solution.
Imaging components – image representation – picture coding – object recognition and categorization – visual inspection. Robot cell – design and control layouts. Industrial Applications – Material Handling, Process, Assembly, Inspection. NonIndustrial Applications.

Awarness on robots and its anatomy and applications

The course is designed to help students to achieve the following outcomes
• Awareness on robotic systems.
• Awareness on various aspects of robot for industrial applications and their design.

Fu, K. S., Gonzalez, R. C. and Lee C. S. G, Robotics: Control, Sensing, Vision, and Intelligence, ? McGraw Hill , New york

Mittal R. K. and Nagrath, I. J, Robotics and Control, Tata McGraw Hill Publishing Company Limited , New delhi

Craig, J, Introduction to Robotics: Mechanics and Control, Prentice Hall , 3rd Edition

Peter Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB, Springer , 2009