Module 1: Introduction (3 hrs)
Brief History, Types of robots, uses of robots, Present status
and future trends in robotics, Overview of robot subsystems.
Issues in designing and controlling robots: resolution, repeatability
and accuracy, transmission, Robot configurations and concept
of workspace, Mechanisms and transmission.
3: Robot Anatomy 1: End effectors and actuators (3hrs)
Different types of grippers, vacuum and other methods of gripping.
Pneumatic, hydraulic and electric actuators.
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.
5: Task specification (3hrs)
Point to point and continuous motion specifications for typical
applications, joint interpolation, task space interpolation,
executing user specified tasks
6: Robot analysis 1 (3hrs)
Position and orientation of rigid bodies, spatial mechanism
description, Denavit-Hartenberg notation, homogenous transformation.
7: Robot analysis 2 (3hrs)
Forward and inverse position analysis, velocity mapping, static
force analysis, singularities, acceleration mapping.
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
9: Motion planning(3hrs)
Obstacle avoidance, configuration space, road map methods, graph
search algorithms, potential field methods.
10: Robot vision 1 (3hrs)
Camera model and perspective transformation, image processing
fundamentals for robotic applications, image acquisition and
11: Robot vision 2 (3hrs)
Segmentation and region characterization, object recognition
by image matching and based on features, Problem of bin-picking.
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
13: Case studies (4 hrs)
1. Robot in assembly (Puma)
2. Mobile robot (Nataraj)