WITH EFFECT FROM THE ACADEMIC YEAR 2013 - 2014
ME 457
ROBOTICS
(ELECTIVE - III)
Instruction 4 Periods per week
Duration of University Examination 3 Hours
University Examination 75 Marks
Sessional 25 Marks
Unit-I
Robots: History and evolution of robots, Laws of robotics, Basic configuration, degree of freedom, work envelope, motion control methods! Application in industry - material handling, loading & unloading, processing, welding & painting applications, assembly and inspection, Robot specification requirements.
Unit-II
Rotation matrix: Homogenous transformation matrix. Denavit - Hartenberg convention. Euler angles, RPY reprensation. Direct and inverse Kinematics for industrial robots for position and orientation. Redundancy.
Unit-III
Manipulator Jacobian: Joint - End effector velocity - direct and inverse velocity analysis, Trajectory planning, interpolation, cubic polynomial, linear segments with parabolic blending, static force and moment transformation, Solvability, Stiffness, Singularities.
Unit-IV
Robot dynamics: Lagrangian formulation, link Inertia tensor and manipulator Inertia tensor, Newton - Euler formulation for RR & RP Manipulators. Control: Individual joint, computed torque.
Unit-V
End effectors, Position and velocity measurement. Sensors: Proximity and range, tactile, force and torque. Drives for robots; Electrical, hydraulic and pneumatic. Robot vision: Introduction to technique, image acquisition and processing. Introduction to robot programming languages.
Suggested Reading:
- 1Spong and Vidyasagar, Robot Dynamics and Control, John Wiley and Sons, 1990
53 54
- 2.R.K. Mittal, IJ. Nagrath, Robotics and Control, Tata McGraw- Hill 2003.
- 3.Groover, IndustrialRobotics, McGraw-Hill.
- 4.Asada and Siotine, Robot Analysis and Intelligence, Wiley Interscience, 1986.
- 5.Fu.K.S. GonZalezRC.,LeeC.S.G., Robotics, Control Sensing Vision and Intelligence, McGraw Hill, Int. Ed., 1987.