Department of Mechanical & Industrial EngineeringcoretheorySem 4
ROBOTICS: MECHANICS AND CONTROL
MIE 4421
Syllabus
- 01Introduction: Definition of robots, Automation and Robotics, History of Robots, Anatomy of Robot, Robot configuration, Robot Motions, Work Volume, Drive System, Control System, Precision of movement, Specification of a robot, Applications of industrial robots
- 02Robot Motion Analysis: Coordinate frames, Mapping and Transforms, Inverting a homogeneous transform, Euler angle representation, Kinematic modelling of the manipulator, Joint Notations in kinematics, Denavit–Hartenberg Notation, Manipulator Transformation matrix, Inverse Kinematics, Position Representation, Robot arm/manipulator, Forward and reverse transformation of 2 degree of freedom arm
- 03Robot end effectors: Types end effectors, Mechanical grippers and their mechanisms, Force analysis of gripper, vacuum cups, magnetic grippers, hooks and scoops, tools as end effectors, Physical support of the end effectors, Power and signal transmission, Guidelines for gripper selection
- 04Trajectory Planning: Joint-space schemes, Cartesian-space schemes, Geometric problems with Cartesian paths, path generation at run time, collision free path planning
- 05Robot Control Systems: Control system concepts, Mathematical models, Transfer Functions, Characteristic equation for spring mass dampener system, Types of controllers
References
- Mittal R. K., and Nagrath I. J., Robotics and Control, Mc Graw Hill Education (India) Pvt. Ltd.
- Groover Mikell P., Weiss Mitchel, Nagel Roger N., Odrey Nicholas G., and Dutta Ashish, Industrial Robotics, 2nd ed., McGraw Hill Education (India) Pvt. Ltd, 2012
- Craig John J., Introduction to Robotics: Mechanics and Control, Pearson Prentice Hall Publication
- Janakiraman P. A., Robotics and Image processing, Tata McGraw Hill, 1995
Credits Structure
3Lecture
0Tutorial
0Practical
3Total