ME- 442- E ROBOTICS ENGINEERING
ME- 442- E ROBOTICS ENGINEERING
Sessional : 50 Marks
Theory : 100 Marks
Unit I Robotic Manipulation: Automation and Robots; Robot Classification – Drive Technologies, Work-Envelope Geometries, Motion Control Methods, Applications; Robot Specifications – No. of Axes, Capacity and Speed, Reach and Stroke, Tool Orientation, Repeatability, Precision, Accuracy, Operating Environment, An Example; Rhino X-3.
Unit II Direct Kinematics: The Arm Equation Homogenous Co-ordinates – Frames, Translations and Rotations, Composite Homogenous Transformations; Screw Transformations; Link Co-ordinates; The Arm Equation; A Five-Axis Articulated Robot; A Four-Axis Scara Robot; A Six-Axis Articulated Robot; Problems.
Unit III Inverse Kinematics: Solving the Arm Equation: The Inverse Kinematics Problem; General Properties of Solutions; Tool Configuration; Inverse Kinematics of a Five-Axis Articulated Robot, Four-Axis Scara Robot, Six-Axis Articulated Robot and Three-Axis Planer Articulated Robot; A Robotic Work Cell; Problems.
Unit IV Work Space Analysis and Trajectory Planning : Work Space Analysis; Work Envelope of a Five-Axis Articulated Robot; Work Envelope of a Four Axis Scrara Robot; Work Space Fixtures; The Pick and Place Operation; Continuous Path Motion; Interpolated Motion; Straight Line Motion; Problems.
Unit V Differential Motion and Statics : The Tool Configuration Jacobian Matrix; Joint – Space Singularties; Generalised Inverses; Resolved – Motion Rate Control; n > 6; Rate Control of Reduntant Rebots : n > 6; Rate Control using ( 1) – Inverses; The Manipulator Jacobian; Induced Joint Torques and Forces; Problems.
Unit VI Manipulator Dynamics : Lagrange’s Equation; Kinetic & Potential Energy; Generalised Force; Lagrange – Euler Dynamic Model; Dynamic Models of a Two-Axis Planer Articulated Robot and A Three-Axis SCARA Robot; Direct & Inverse Dynamics; Recuresive Newton – Euler Formulation; Dynamic Model of a One-Axis Robot; Problems.
Unit VII Robot Control : The Control Problems; State Equations; Constant Solutions; Linear Feedback Systems; Single-Axis PID Control; PD-Gravity Control; Computed –Torque Control; Variable-structure Control; Impedance Control; Problems.
Text Books:
1. Fundamental of Robotics (Analysis & Control ) by Robert J.Schilling, Published by PHI, Pvt. Ltd., New Delhi.
2. Introduction to Robotics ( Mechanics & Control ) by John J. Craig, Published by Addition Wesley ( Intl. Student Edition ).
Reference Books:
1. Analysical Robotics & Mechatronics by Wolfram Stadler, Published by Mc-Graw Hill, Inc., New Delhi.
2. Industrial Robotics – Technology, Programming & Applications by Mikell P. Grover, Weiss, Nagel and Ordef , Published by Mc-Graw Hill International Edition.
3. A Robot Engg. Test Book – Mohsen Shahinpoor, Harper & Low, Publishing New York.
4. Robotic Engineering – An Integrated Approach : Richard D.Klafter, Thomas A. Chmielewski and Michael Negin PHI 1989.
5. Foundations of Robotics Analysis and Control – Tsuneo Yashikawa MIT Press 1990, Indian Reprint 1998.
6. Robots and Control – R.K.Mittal and I.J.Nagrath – Tata McGraw Hill 2003.
Note: In the semester examination, the examiner will set eight questions, at least one question from each unit. The students will be required to attempt only 5 questions.
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