AP4094 Robotics Syllabus:
AP4094 Robotics Syllabus – Anna University PG Syllabus Regulation 2021
COURSE OBJECTIVES:
To Introduce the concepts of Robotic systems
To understand the concepts of Instrumentation and control related to Robotics
To understand the kinematics and dynamics of robotics
To explore robotics in Industrial applications
UNIT I INTRODUCTION TO ROBOTICS
Robotics -History – Classification and Structure of Robotic Systems – Basic components -Degrees of freedom – Robot joints coordinates- Reference frames – workspace- Robot languages- Robotic sensors- proximity and range sensors, ultrasonic sensor, touch and slip sensor.
UNIT II ROBOT KINEMATICS AND DYNAMICS
Kinematic Modelling: Translation and Rotation Representation, Coordinate transformation, DH parameters, Forward and inverse kinematics, Jacobian, Dynamic Modelling: Forward and inverse dynamics, Equations of motion using Euler-Lagrange formulation, Newton Euler formulation.
UNIT III ROBOTICS CONTROL
Control of robot manipulator – state equations – constant solutions -linear feedback systems, single axis PID control – PD gravity control -computed torque control, variable structure control and impedance control.
UNIT IV ROBOT INTELLIGENCE AND TASK PLANNING
Artificial Intelligence – techniques – search problem reduction – predicate logic means and end analysis -problem solving -robot learning – task planning – basic problems in task planning – AI in robotics and Knowledge Based Expert System in robotics
UNIT-V INDUSTRIAL ROBOTICS
Robot cell design and control – cell layouts – multiple robots and machine interference – work cell design – work cell control – interlocks – error detection deduction and recovery – work cell controller – robot cycle time analysis. Safety in robotics, Applications of robot and future scope.
TOTAL : 45 PERIODS
COURSE OUTCOMES:
At the end of the course the student will be able to
CO1: Describe the fundamentals of robotics
CO2: Understand the concept of kinematics and dynamics in robotics.
CO3: Discuss the robot control techniques
CO4: Explain the basis of intelligence in robotics and task planning
CO5: Discuss the industrial applications of robotics
REFERENCE:
1. John J. Craig, ‘Introduction to Robotics (Mechanics and Control)’, Addison-Wesley, 2nd Edition, 2004.
2. Richard D. Klafter, Thomas A. Chmielewski, Michael Negin, ‘Robotics Engineering: An Integrated Approach’, PHI Learning, New Delhi, 2009.
3. K.S.Fu, R.C.Gonzalez and C.S.G.Lee, ‘Robotics Control, Sensing, Vision and Intelligence’, Tata McGraw Hill, 2nd Reprint,2008.
4. Reza N.Jazar, ‘Theory of Applied Robotics Kinematics, Dynamics and Control’, Springer, 1st Indian Reprint, 2010.
5. Mikell. P. Groover, Michell Weis, Roger. N. Nagel, Nicolous G.Odrey, ‘Industrial Robotics Technology, Programming and Applications ‘, McGraw Hill, Int 2012.