OIE751 ROBOTICS L T P C
3 0 0 3
OBJECTIVES:
To understand the functions of the basic components of a Robot.
To study the use of various types of End of Effectors and Sensors
To impart knowledge in Robot Kinematics and Programming
To learn Robot safety issues and economics.
UNIT I FUNDAMENTALS OF ROBOT 6
Robot - Definition - Robot Anatomy – Coordinate Systems, Work Envelope Types and Classification-
Specifications-Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay Load- Robot Parts and their Functions-
Need for Robots-Different Applications.
UNIT II ROBOT DRIVE SYSTEMS AND END EFFECTORS 9
Pneumatic Drives-Hydraulic Drives-Mechanical Drives-Electrical Drives-D.C. Servo Motors, Stepper Motors,
A.C. Servo Motors-Salient Features, Applications and Comparison of all these Drives, End Effectors-Grippers-
Mechanical Grippers, Pneumatic and Hydraulic- Grippers, Magnetic Grippers, Vacuum Grippers; Two Fingered
and Three Fingered Grippers; Internal Grippers and External Grippers; Selection and Design Considerations.
UNIT III SENSORS AND MACHINE VISION 12
Requirements of a sensor, Principles and Applications of the following types of sensors- Position sensors - Piezo
Electric Sensor, LVDT, Resolvers, Optical Encoders, pneumatic Position Sensors, Range Sensors
Triangulations Principles, Structured, Lighting Approach, Time of Flight, Range Finders, Laser Range Meters,
Touch Sensors ,binary Sensors., Analog Sensors, Wrist Sensors, Compliance Sensors, Slip Sensors, Camera,
Frame Grabber, Sensing and Digitizing Image Data- Signal Conversion, Image Storage, Lighting Techniques,
Image Processing and Analysis-Data Reduction, Segmentation, Feature Extraction, Object Recognition, Other
Algorithms, Applications- Inspection, Identification, Visual Serving and Navigation.
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING 13
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of
manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension)
Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-
Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-
Motion Commands, Sensor Commands, End Effector commands and simple Programs.
UNIT V IMPLEMENTATION AND ROBOT ECONOMICS 5
RGV, AGV; Implementation of Robots in Industries-Various Steps; Safety Considerations for Robot Operations
- Economic Analysis of Robots.
TOTAL: 45 PERIODS
OUTCOME:
Upon completion of this course, the students can able to apply the basic engineering knowledge for the
design of robotics
TEXT BOOKS:
1. Klafter R.D., Chmielewski T.A and Negin M., “Robotic Engineering - An Integrated Approach”, Prentice
Hall, 2003.
2. Groover M.P., “Industrial Robotics -Technology Programming and Applications”, McGraw Hill, 2001.
REFERENCES:
1. Craig J.J., “Introduction to Robotics Mechanics and Control”, Pearson Education, 2008.
2. Deb S.R., “Robotics Technology and Flexible Automation” Tata McGraw Hill Book Co., 1994.
3. Koren Y., “Robotics for Engineers", Mc Graw Hill Book Co., 1992.
4. Fu.K.S.,Gonzalz R.C. and Lee C.S.G., “Robotics Control, Sensing, Vision and Intelligence”, McGraw Hill
Book Co., 1987.
5. Janakiraman P.A., “Robotics and Image Processing”, Tata McGraw Hill, 1995.
6. Rajput R.K., “Robotics and Industrial Automation”, [Link] and Company, 2008.
7. Surender Kumar, “Industrial Robots and Computer Integrated Manufacturing”, Oxford and IBH Publishing
Co. Pvt. Ltd., 1991
