MR4202 Industrial Robotics and Control Syllabus:
MR4202 Industrial Robotics and Control Syllabus – Anna University PG Syllabus Regulation 2021
COURSE OBJECTIVES:
1. To know the basic terminologies, classification, configurations and components of serial manipulator.
2. To understand the mechanical design and robot arm kinematics
3. To learn and understand the various linear control techniques on manipulators
4. To learn and understand the various non-linear control techniques on manipulators
5. To learn the robot programming and demonstrate the robot in various applications
UNIT I INTRODUCTION
Definition – Robot anatomy – Classification – Geometrical configurations, wrist and its motions – End effectors and its type – links and joints. Robot drive system: – Hydraulic, Electric and pneumatic drive system, Resolution, accuracy and repeatability, Advantage and disadvantage of drive system. – Robot actuation and Feedback component – position, velocity sensors – Robotic vision
UNIT II ROBOT ARM KINEMATICS
Introduction – Matrix representation Homogeneous transformation, forward and inverse – Kinematic equations, Denvit – Hartenberg representations – Inverse Kinematic relations. Fundamental problems with D-H representation, differential motion and velocity of frames – Jacobian, Differential Charges between frames:
UNIT III ROBOT DYNAMICS AND TRAJECTORY PLANNING
Lagrangeon mechanics, dynamic equations for sing, double and multiple DOF robots – static force analysis of robots, Trajectory planning – joint space, Cartesian space description and trajectory planning – third order, fifth order – Polynomial trajectory planning
UNIT IV NONLINEAR CONTROL OF MANIPULATORS
Introduction – nonlinear and time – varying systems – multi-input, multi-output control systems – the control problem for manipulators – practical considerations – current industrial-robot control systems – Lyapunov stability analysis – Cartesian – based control systems – adaptive control
UNIT V ROBOT PROGRAMMING AND APPLICATIONS
Lead through Programming, Robot programming Languages – VAL Programming – Motion Commands, Sensor Commands, End Effector commands and simple Programs – Applications: Robotic Surgery – Manufacturing Industries – Material Handling, Assembly, Inspection – Space – Underwater – Nuclear industry – Humanoid Robots.
TOTAL: 45 PERIODS
COURSE OUTCOMES:
Upon Completion of the course, the students will be able to
CO1. Understand the basics of Industrial Robotics and Control.
CO2. Create the kinematic solutions for the serial manipulators
CO3. Analyze linear control of manipulators
CO4. Analyze non-linear control of manipulators
CO5. Create robotic program for specific applications.
REFERENCES:
1. John J. Craig, “Introduction to Robotics – Mechanics and control”, 3rd edition, Prentice hall, 2005.
2. Groover,M.P., Weis,M., Nagel,R.N. and Odrey,N.G., “Industrial Robotics Technology, Programming and Applications”, Mc Graw-Hill, Int., 1986.
3. K.S.Fu, Gonzalez, R.C. and Lee, C.S.G., “Robotics Control, Sensing, Vision and Intelligence”, McGraw Hill, 1987.
4. Saeed B. Niku, “Introduction to Robotics: Analysis, Control, Applications”, 2nd edition, John Wiley & sons, Inc., 2011
5. Klafter,R.D., Chmielewski, T.A. and Negin,M., “Robotics Engineering – An Integrated Approach”, Prentice-Hall of India Pvt. Ltd., 1984.