CS1019 ROBOTICS 3 0 0 100

AIM

Robots are slowly and steadily replacing human beings in many fields. The aim of this course is to introduce the students into this area so that they could use the same when they enter the industries.

OBJECTIVE

The course has been so designed to give the students an overall view of the mechanical components

• The mathematics associated with the same.

• Actuators and sensors necessary for the functioning of the robot.

UNIT I ROBOTIC MANIPULATION 8

Robotic manipulation – Automation and Robots – Robot Classification – Applications – Robot Specifications – Notation. Direct Kinematics: The ARM Equation – Dot and

Cross products – Coordinate frames – Rotations – Homogeneous coordinates – Link coordinates – The arm equation – A five-axis articulated robot (Rhino XR-3) – A four-axis SCARA Robot (Adept One) – A six-axis articulated Robot (Intelledex 660). Inverse Kinematics: Solving the arm equation – The inverse kinematics problem – General properties of solutions – Tool configuration – Inverse kinematics of a five-axis articulated robot (Rhino XR-3) – Inverse kinematics of a four-axis SCARA robot (Adept one) - Inverse kinematics of a six-axis articulated robot (Intelledex 660) - Inverse kinematics of a three-axis articulated robot – A robotic work cell.

UNIT II DYNAMIC OF ROBOTS 12

Workspace analysis and trajectory planning: Workspace analysis – Work envelop of a five-axis articulated robot – Work envelope of a four-axis SCARA robot – Workspace fixtures – The pick-and-place operation – Continuous-path motion – Interpolated motion – Straight-line motion. Differential motion and statics: The tool-configuration Jacobian matrix – Joint-space singularities – Generalized Inverses – Resolved-Motion rate control:n<=6 – Rate control of redundant robots:n>6 – rate control using {1}-inverses – The manipulator Jacobian – Induced joint torques and forces. Manipulator Dynamics: Lagrange’s equation – Kinetic and Potential energy – Generalized force – Lagrange -Euler dynamic model – Dynamic model of a two-axis planar articulated robot - Dynamic model of a three-axis SCARA robot – Direct and Inverse dynamics – Recursive Newton-Euler formulation – Dyamic model of a one-axis robot.

UNIT III ROBOT CONTROL 6

Robot control: The control problem – State equation – Constant solutions – Linear feedback systems - Single-axis PID control – PD-Gravity control – Computed-Torque control – Variable-Structure control – Impedance control

UNIT IV SENSORS AND ACTUATORS 9

Actuators - Introduction – Characteristics of actuating systems – Comparison of actuating systems – Hydraulic devices – Pneumatic devices – Electric motors – Microprocessor control of electric motors – Magnetostricitve actuators – Shape-memory type metals – Speed reduction. Sensors – Introduction – Sensor characteristics – Position sensors – Velocity sensors – Acceleration sensors – Force and pressure sensors – Torque sensors – Microswitches – Light and Infrared sensors – Touch and Tactile sensors – Proximity sensors – Range-finders – Sniff sensors – Vision systems – Voice Recognition devices – Voice synthesizers – Remote center compliance device.

UNIT V VISION AND TASK PLANNING 9

Robot vision – Image representation – Template matching – Polyhedral objects – Shape analysis – Segmentation – Iterative processing – Perspective Transformations – Structured illumination –Camera calibration. Task planning: Task-level programming – Uncertainty – Configuration space – Gross-Motion planning – Grasp planning – Fine-Motion planning – Simulation of planar motion – A task-planning problem.

TOTAL : 45

TEXT BOOKS

1. Robert J.Schilling, “Fundamentals of Robotics – Analysis & Control”, Prentice Hall of India Pvt. Ltd., 2002. (Chapters 1 to 9 – Unit I, II, III, V)

2. Saeed B.Niku, “Introduction to Robotics – Analysis, Systems, Applications”, Prentice Hall of India Pvt. Ltd., 2003. (Chapters 6 & 7 – Unit IV)

AIM

Robots are slowly and steadily replacing human beings in many fields. The aim of this course is to introduce the students into this area so that they could use the same when they enter the industries.

OBJECTIVE

The course has been so designed to give the students an overall view of the mechanical components

• The mathematics associated with the same.

• Actuators and sensors necessary for the functioning of the robot.

UNIT I ROBOTIC MANIPULATION 8

Robotic manipulation – Automation and Robots – Robot Classification – Applications – Robot Specifications – Notation. Direct Kinematics: The ARM Equation – Dot and

Cross products – Coordinate frames – Rotations – Homogeneous coordinates – Link coordinates – The arm equation – A five-axis articulated robot (Rhino XR-3) – A four-axis SCARA Robot (Adept One) – A six-axis articulated Robot (Intelledex 660). Inverse Kinematics: Solving the arm equation – The inverse kinematics problem – General properties of solutions – Tool configuration – Inverse kinematics of a five-axis articulated robot (Rhino XR-3) – Inverse kinematics of a four-axis SCARA robot (Adept one) - Inverse kinematics of a six-axis articulated robot (Intelledex 660) - Inverse kinematics of a three-axis articulated robot – A robotic work cell.

UNIT II DYNAMIC OF ROBOTS 12

Workspace analysis and trajectory planning: Workspace analysis – Work envelop of a five-axis articulated robot – Work envelope of a four-axis SCARA robot – Workspace fixtures – The pick-and-place operation – Continuous-path motion – Interpolated motion – Straight-line motion. Differential motion and statics: The tool-configuration Jacobian matrix – Joint-space singularities – Generalized Inverses – Resolved-Motion rate control:n<=6 – Rate control of redundant robots:n>6 – rate control using {1}-inverses – The manipulator Jacobian – Induced joint torques and forces. Manipulator Dynamics: Lagrange’s equation – Kinetic and Potential energy – Generalized force – Lagrange -Euler dynamic model – Dynamic model of a two-axis planar articulated robot - Dynamic model of a three-axis SCARA robot – Direct and Inverse dynamics – Recursive Newton-Euler formulation – Dyamic model of a one-axis robot.

UNIT III ROBOT CONTROL 6

Robot control: The control problem – State equation – Constant solutions – Linear feedback systems - Single-axis PID control – PD-Gravity control – Computed-Torque control – Variable-Structure control – Impedance control

UNIT IV SENSORS AND ACTUATORS 9

Actuators - Introduction – Characteristics of actuating systems – Comparison of actuating systems – Hydraulic devices – Pneumatic devices – Electric motors – Microprocessor control of electric motors – Magnetostricitve actuators – Shape-memory type metals – Speed reduction. Sensors – Introduction – Sensor characteristics – Position sensors – Velocity sensors – Acceleration sensors – Force and pressure sensors – Torque sensors – Microswitches – Light and Infrared sensors – Touch and Tactile sensors – Proximity sensors – Range-finders – Sniff sensors – Vision systems – Voice Recognition devices – Voice synthesizers – Remote center compliance device.

UNIT V VISION AND TASK PLANNING 9

Robot vision – Image representation – Template matching – Polyhedral objects – Shape analysis – Segmentation – Iterative processing – Perspective Transformations – Structured illumination –Camera calibration. Task planning: Task-level programming – Uncertainty – Configuration space – Gross-Motion planning – Grasp planning – Fine-Motion planning – Simulation of planar motion – A task-planning problem.

TOTAL : 45

TEXT BOOKS

1. Robert J.Schilling, “Fundamentals of Robotics – Analysis & Control”, Prentice Hall of India Pvt. Ltd., 2002. (Chapters 1 to 9 – Unit I, II, III, V)

2. Saeed B.Niku, “Introduction to Robotics – Analysis, Systems, Applications”, Prentice Hall of India Pvt. Ltd., 2003. (Chapters 6 & 7 – Unit IV)

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