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Robotics

About Course


Robotics is emerging branch. This course introduces undergraduate students to fundamentals of robotics, various configurations and application of robots in industry. It gives exposure of various hardware like sensors-actuators-controllers used for robotic applications. There is a proper balance of theory and practical sessions.

About Faculty:

Target Audience:

Interdisciplinary branch (Where it is not offered in regular curriculum) Entry: Second year Exit: Third year

Duration:60 Hour

Course:

Module No Topic No Content
1 1 Introduction to robotics & its application: Automation and robotics, definitions of robotics, application of robot, laws of robotics, common configuration of robot, robot workspace, grippers and its classification
1 2 Robot kinematics and dynamics: Translation and Rotation Representation, Coordinate transformation, DH parameters, Jacobian, Singularity, and Statics Dynamic Modelling of Robot: Introduction of Newton Euler approach & Lagrange Euler approach. Dynamic model of one link arm by Newton Euler approach & Lagrange Euler approach
1 3 Robot actuation system: Actuators: Electric, Hydraulic and Pneumatic; Transmission: Gears, Timing Belts and Bearings, Parameters for selection of actuators
1 4 Trajectory planning: Path Vs. Trajectory, Types of motion, Joint space VS Cartesian space, cubic polynomial for a path via point, Higher order polynomial
1 5 Identification of components and demonstration on real robot available in lab.
2 1 Sensors and vision system: Sensor: Contact and Proximity, Position, Velocity, Force, Tactile etc. Introduction to Cameras, Camera calibration, Geometry of Image formation, Segmentation algorithms, Euclidean / Similarity / Affine / Projective transformations Vision applications in robotics.
2 2 Robot controller: Basics of control: Transfer functions, Control laws: P, PI, PD, PID. Non-linear and advanced controls
2 3 1. Implement working of different sensors 2. Performance on Image and Video processing using python 3. Demonstration on light follower robot with photoresists sensor
3 1 Embedded systems: Architecture and integration with sensors, actuators, components, Programming & AI, Working on ardiuno, raspberry pi board
3 2 Study on Real robots: Components, Control hardware and interfacing
3 3 1. Implement obstacle avoidance robot with ultrasound proximity sensor 2. Performance on Image and Video processing using Arduino and Raspberry pi 3. Design assembly and testing of smart robot car
4 1 Prototype development