MF4008 Robot Design and Programming Syllabus:
MF4008 Robot Design and Programming Syllabus – Anna University PG Syllabus Regulation 2021
OBJECTIVES:
(1) To impart knowledge about different types of robots and configuration
(2) To gain fundamental knowledge on robot manipulators.
(3) To provide a brief knowledge on geometry, kinematics, dynamics, motion planning and control
(4) To impart knowledge in Robot designing and programming
(5) To familiarize with sensors and actuators used in robots
UNIT I INTRODUCTION
Definition, Need Application, Types of robots – Classifications – Configuration, work volume, control loops, controls and intelligence, specifications of robot, degrees of freedoms, end effectors – types, selection applications.
UNIT III ROBOT KINEMATICS
Introduction – Matrix representation Homogeneous transformation, forward and inverse – Kinematic equations, Denvit – Hartenbers 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, Machine Vision
UNIT IV ROBOT PROGRAMMING & AI TECHNIQUES
Types of Programming – Teach Pendant programming – Basic concepts in A1 techniques – Concept of knowledge representations – Expert system and its components.
UNIT V ROBOT SENSORS AND ACTUATORS
Design of Robots – characteristics of actuating systems, comparison, microprocessors control of electric motors, magnetostrictive actuators, shape memory type metals, sensors, position, velocity, force, temperature, pressure sensors – Contact and non-contact sensors, infrared sensors, RCC, vision sensors
OUTCOMES:
At the end of this course the students are expected
(1) Classify and configure robots
(2) Apply the kinematic arrangement of robots and its applications in the area of manufacturing sectors
(3) To select sensors for different application
(4) To build a robot for any type of application
(5) To develop and Expert system
REFERENCES:
1. Gordon Mair, ‘Industrial Robotics’, Prentice Hall (U.K.) 1988
2. Groover.M.P. Industrial Robotics, McGraw – Hill International edition, 1996.
3. Saeed.B. Niku, ‘Introduction to Robotics, Analysis, system, Applications’, Pearson educations, 2002
4. Wesley E Snyder R, ‘Industrial Robots, Computer Interfacing and Control’, Prentice Hall International Edition, 1988.