|13040714||Robotics & Automation||L||T||P||C|
|Version1.0||Date of Approval: Jun 06, 2013||3||1||0||3|
- Demonstrate an ability to apply spatial transformation to obtain forward kinematics equation of robot manipulators.
- Demonstrate an ability to perform kinematics and inverse kinematics analysis of robot systems.
- Demonstrate knowledge of robot controllers.
- To develop the student’s knowledge in various robot structures and their workspace.
- To provide the student with some knowledge and skills associated with robot control.
COURSE OUTCOMES: On completion of this course, the students will be able to
- Have sound knowledge of Basic Robotic model.
- Differentiate types of control and the standardization for some robotic system.
- Critically evaluate robots for particular applications.
- Analyse particular industrial applications and evaluate possible solutions in terms of automated dedicated / flexible) or mixed manual/ automated systems.
CATALOG DESCRIPTION: Students skilled to design, develop, implement and supervise automation systems for industrial processes and to design, control and operate with industrial robotic systems and mobile robots. Automation is an important aspect of modern manufacturing and is a very interesting area for engineers and developers. Studying this course will give you sufficient knowledge to analyze simple manufacturing automation systems, in particular automatic assembly, and to design such systems. Robot manipulators are numerous in industry and found in a verity of applications. This course will explain exactly how they work, how to program them, their interfacing with industrial controllers and how they will be improved in the future. Upon completion, students should be able to design, construct, program, verify, analyze, and troubleshoot robotic system.
- Mikell P Grover et. al. “Industrial Robots: Technology, Programming and Applications”, 2nd Edition, Tata McGraw Hill, 1980, ISBN 9781259006210.
- Robert J. Schilling, “Fundamentals of Robotics-Analysis and Control”, PHI Learning, 2009, ISBN 9788120310476 (Unit-II and Unit-III)
- K.S. Fu, Ralph Gonzalez, C.S.G. Lee, “Robotics: control, sensing, vision and Intelligence”, 1st Edition, Tata Mcgraw-Hill, 2008, ISBN 9780070265103
Unit I: INTRODUCTION ROBOTICS
Robotics – Basic components – Classification – Performance characteristics – Actuators- Electric actuator- DC motor horse power calculation, magneto-astrictive hydraulic and pneumatic actuators. Sensors and vision systems: Different types of robot transducers and sensors – Tactile sensors – Proximity and range sensors -ultrasonic sensor-touch sensors-slip sensors-sensor calibration- vision systems – Image processing and analysis – image data reduction – segmentation feature extraction – Object recognition.
Unit II: ROBOT CONTROL
Control of robot manipulators- state equations-constant solutions-linear feedback systems-single axis PID control- PD gravity control- computed torque control- variable structure control- Impedance control.
Unit III: END EFFECTORS
End effectors and tools- types – Mechanical grippers – Vacuum cups – Magnetic grippers – Robot end effectors interface, work space analysis work envelope-workspace fixtures-pick and place operation- continuous path motion-interpolated motion-straight line motion.
Unit IV: ROBOT MOTION ANALYSIS
Robot motion analysis and control: Manipulator kinematics -forward and inverse kinematics- arm equation-link coordinates- Homogeneous transformations and rotations and Robot dynamics.
Unit V: ROBOT APPLICATIONS
Industrial and Non industrial robots, Robots for welding, painting and assembly – Remote Controlled robots – Robots for nuclear, thermal and chemical plants – Industrial automation – Typical examples of automated industries
Mode of Evaluation: The theory and lab performance of students are evaluated separately.
|Theory||Laboratory||Theory and laboratory|