- Title: Robotics
- Department: Mechanical Engineering
- Author: Prof. C.Amarnath ,Prof. B.Seth ,Prof. K.Kurien Issac ,Prof. P.S.Gandhi ,Prof. P.Seshu
- University: IIT bombay
- Type: WebLink
- Abstract:
Module 1: Introduction (3 hrs)
Brief History, Types of robots, uses of robots, Present status and future trends in robotics, Overview of robot subsystems.
Module 2: (3hrs)
Issues in designing and controlling robots: resolution, repeatability and accuracy, transmission, Robot configurations and concept of workspace, Mechanisms and transmission.
Module 3: Robot Anatomy 1: End effectors and actuators (3hrs)
Different types of grippers, vacuum and other methods of gripping. Pneumatic, hydraulic and electric actuators.
Module 4: Robot Anatomy 2: Sensors and controllers (4hrs)
Internal and external sensors, position, velocity and acceleration sensors, proximity sensors, force sensors, laser range finder, camera. Micro-controllers, DSP, centralized controllers, real time operating systems.
Module 5: Task specification (3hrs)
Point to point and continuous motion specifications for typical applications, joint interpolation, task space interpolation, executing user specified tasks
Module 6: Robot analysis 1 (3hrs)
Position and orientation of rigid bodies, spatial mechanism description, Denavit-Hartenberg notation, homogenous transformation.
Module 7: Robot analysis 2 (3hrs)
Forward and inverse position analysis, velocity mapping, static force analysis, singularities, acceleration mapping.
Module 8: Robot control (4hrs)
Independent joint control, PD and PID feedback, actuator models, nonlinearity of manipulator models, issues in nonlinear control, force feedback, hybrid control
Module 9: Motion planning(3hrs)
Obstacle avoidance, configuration space, road map methods, graph search algorithms, potential field methods.
Module 10: Robot vision 1 (3hrs)
Camera model and perspective transformation, image processing fundamentals for robotic applications, image acquisition and preprocessing.
Module 11: Robot vision 2 (3hrs)
Segmentation and region characterization, object recognition by image matching and based on features, Problem of bin-picking.
Module 12: Futuristic topics in Robotics (3hrs)
Micro-robotics and MEMS (Micro electro mechanical systems), Fabrication technology for micro-robotics, stability issues in legged robots, under-actuated manipulators
Module 13: Case studies (4 hrs)
1. Robot in assembly (Puma)
2. Mobile robot (Nataraj)
TOTAL HOURS : 42