Syllabus - Robotics Engineering (AB-402)

Automation and Robotics Engineering

Robotics Engineering (AB-402)

IV

Module 1

Introduction

Need and importance, basic concepts, structure and classification of industrial robots, Geometric classification and control classification, Robot Elements, terminology of robot motion, motion characteristics, resolution, accuracy, repeatability, robot applications.

Module 2

End Effectors and Drive systems

Drive systems for robots, salient features and comparison, different types of end effectors, design, applications.

Module 3

Sensors

Sensor evaluation and selection, Piezoelectric sensors, linear position and displacement sensing, revolvers, encoders, velocity measurement, proximity, tactile, compliance and range sensing. Image Processing and object recognition.

Module 4

Robot Programming

Teaching of robots, manual, walk through, teach pendant, off line programming , Language based programming, task level programming, Robot programming synthesis, robot programming for foundry, press work and heat treatment, welding, machine tools, material handling, warehousing assembly, etc., automatic storage and retrieval system.

Module 5

Safety and Economy of Robots

Work cycle time analysis, economics and effectiveness of robots, safety systems and devices, concepts of testing methods and acceptance rule for industrial robots. Robot integration with CAD/CAM/CIM, Collision free motion planning.

Course Objective

To understand the importance of robotics in scientific and industrial domains. To introduce mathematical aspects of robotics such as spatial transformations, kinematics, dynamics, trajectory generation, actuators and control. To learn about different types of end effectors and drive systems. To understand the criteria to select sensors, basic knowledge of piezoelectric sensors and Image processing. To learn about safety and economics of robots.

Practicals

  • To study components of real Robot and its DH Parameters.

  • Study of Forward Kinematics and validation using a software (Robo Analyzer or any other free software tools)

  • Study of inverse kinematics of any real Robot and validation using any software

  • Study of positioning and orientation of Robot arm

  • Image processing for color/shape detection

  • Control experiment using available hardware/software

  • Integration of assorted sensors (IR, Potentiometer, strain gauges etc.)microcontroller and Robot operating System in a Robotic System

  • Project work.

Reference Books

  • Mittal RK, Nagrath IJ; Robotics and Control; TMH

  • Groover M.P,Weiss M, Nagel,OdreyNG; Industrial Robotics -The Appl□; TMH

  • Groover M.P; CAM and Automation; PHI Learning

  • Spong Mark and Vidyasagar; Robot Modelling and control; Wiley India

  • Yoshikava ; Foundations of Robotics- analysis and Control; PHI Learning;

  • Murphy ; Introduction to AI Robotics; PHI Learning

  • FU KS, Gonzalez RC, Lee CSG; Robotics □Control, sensing□; TMH

  • Shimon, K; Handbook of Industrial Robots; John Wiley & Sons,.

  • Ghosal Ashitava; Robotics Fundamental concepts and analysis; Oxford

  • Saha S; Introduction to Robotics; TMH

  • Yu Kozyhev; Industrial Robots Handbook; MIR Pub