CD4092 Industrial Robotics and Expert Systems Syllabus:
CD4092 Industrial Robotics and Expert Systems Syllabus – Anna University PG Syllabus Regulation 2021
OBJECTIVES:
To appreciate the need and scope for robotics and to understand the principles of robot kinematics
To design the drive systems and its control
To understand the principles of sensors and vision systems
To envision the industrial applications of robots and its safety
To gain knowledge on artificial intelligence and expert systems.
UNIT I INTRODUCTION AND ROBOT KINEMATICS
Definition need and scope of Industrial robots– Robot anatomy – Work volume – Precision movement – End effectors – Sensors. Robot Kinematics – Direct and inverse kinematics – Robot trajectories – Control of robot manipulators – Robot dynamics – Methods for orientation and location of objects.
UNIT II ROBOT DRIVES AND CONTROL
Controlling the Robot motion – Position and velocity sensing devices – Design of drive systems – Hydraulic and Pneumatic drives – Linear and rotary actuators and control valves Electro hydraulic servo valves, electric drives – Motors – Designing of end effectors – Vacuum, magnetic and air operated grippers.
UNIT III ROBOT SENSORS
Transducers and Sensors – Tactile sensor – Proximity and range sensors – Sensing joint forces – Robotic vision system – Image Representation – Image Grabbing –Image processing and analysis – Edge Enhancement – Contrast Stretching – Band Rationing – Image segmentation – Pattern recognition – Training of vision system.
UNIT IV ROBOT CELL DESIGN AND APPLICATION
Robot work cell design and control – Safety in Robotics – Robot cell layouts – Multiple Robots and machine interference – Robot cycle time analysis. Industrial application of robots.
UNIT V ROBOT PROGRAMMING, ARTIFICIAL INTELLIGENCE AND EXPERT SYSTEMS
Methods of Robot Programming – Characteristics of task level languages lead through programming methods – Motion interpolation. Artificial intelligence – Basics – Goals of artificial intelligence – AI techniques–problem representation in AI – Problem reduction and solution techniques – Application of AI and KBES in Robots.
OUTCOMES:
On Completion of the course the student will be able to
Understand robot kinematics
Incorporate mechanical components and concepts in robotics
Understand the basics of various sensors to effectively design a robot
Design suitable robots for specific applications
Optimize the robots using Artificial Intelligence
REFERENCES
1. K.S.Fu, Gonzalez, R.C. and Lee, C.S.G., “Robotics Control, Sensing, Vision and Intelligence”, McGraw Hill, 1987
2. Koren,Y., “Robotics for Engineers”, McGraw-Hill, 1987
3. Kozyrey, Yu. “Industrial Robots”, MIR Publishers Moscow, 1985.
4. Klafter,R.D., Chmielewski, T.A. and Negin,M., “Robotics Engineering – An Integrated Approach”,Prentice-Hall of India Pvt. Ltd., 1984
5. Deb, S.R.”Robotics Technology and Flexible Automation”, Tata McGraw-Hill, 1994
6. Groover,M.P., Weis,M., Nagel,R.N. and Odrey,N.G., “Industrial Robotics Technology, Programming and Applications”, McGraw-Hill, Int., 1986
7. Jordanides,T. and Torby,B.J., ,”Expert Systems and Robotics“, Springer –Verlag, New York, May 1991