Home › My Contents

Robotics

E 420 ROBOTICS

ﾂ

Teaching
schemeﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ Examination
Scheme

ﾂ Lectures:
3
hrs/weekﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ
Mid-Sem. Tests (I&II) 窶・40 marks

ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ
End-
Sem. Exam 窶・60 marks

ﾂ

OBJECTIVES

ﾂ

After completing this course student should able:

1. To understand the principle, working of robots

2. To understand design aspects of various robots

ﾂ ﾂ ﾂ ﾂ

Unit 1

Robot Arm Kinematics and Dynamics

The
Direct Kinematics Problem, The inverse Kinematics Solution,
lagrange-Eular Formulation, Newton-Euler Formation, Generalized
D窶僊lembert Equations of Motion

ﾂ

Unit 2

Planning
of manipulator Trajectories, General Considerations on Trajectory
Planning, Joint-interpolated Trajectories, Planning of Manipulator
Cartesian path Trajectories

ﾂ

Unit 3

Control
of Robot Manipulators: Control of the Puma Robot Arm, Computed Torque
technique, Near-Minimum-Time Control, Nonlinear Decoupled Feedback
Control, Resolved Motion Control, Adaptive Controlﾂ ﾂ ﾂ ﾂ ﾂ ﾂ ﾂ

ﾂ

Unit 4

Sensing

Range Sensing, Proximity Sensing, Touch Sensors, Force and Torque Sensing

ﾂ

Unit 5

Low-Level Vision

Image Acquisition, Illumination Techniques, Imaging Geometry, Some Basic Relationships Between Pixels, Preprocessing

ﾂ

Unit 6

Higher 窶・Level Vision

Segmentation,
Description, Segmentation and Description of Three-Dimensional
Structures, Recognition, Interpretation, Concluding Remarks,
References, Problemsﾂ ﾂ

ﾂ

Text Books

ﾂ｡ﾂ

KS. Fu, R.C. Gonzalez, C.S.G. Lee; Robotics, Mcgraw - Hill

ﾂ

Reference Books

ﾂ｡ﾂ

John J. Craig, Introduction to Robotics, Pearson Education

ﾂ｡ﾂ

Richard D. Klafter, Michael Negin; Robotic Engineering An Integrated Approach, PHI