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Robotics Course Overview and Outcomes

The MEC541: Robotics course covers various aspects of robotics, including robot classification, coordinate frames, kinematics, and the use of actuators and sensors. Students will learn to solve problems related to robot motion and applications in industry. The course includes theoretical concepts and practical applications, supported by recommended textbooks and references.

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30 views2 pages

Robotics Course Overview and Outcomes

The MEC541: Robotics course covers various aspects of robotics, including robot classification, coordinate frames, kinematics, and the use of actuators and sensors. Students will learn to solve problems related to robot motion and applications in industry. The course includes theoretical concepts and practical applications, supported by recommended textbooks and references.

Uploaded by

mohdazzn2004
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

MEC541:ROBOTICS

L:3 T:1 P:0 Credits:4

Course Outcomes: Through this course students should be able to

CO1 :: Identify the robot categories and elaborate its classification

CO2 :: Understand the concept of coordinate frames, mapping between frames, description of
objects in space and transformation of vectors

CO3 :: Solve the problems on links and joints, kinematic relation between adjacent links and
manipulator transformation matrix
CO4 :: solve the problems of velocity of links using Jacobian matrix

CO5 :: discover the applications of robot in research and industry

Unit I
Introduction to robotics : Introduction to robots and robotics, Development of robots, Robot
anatomy, Degrees of freedom, Robot classifications, Programming of robots, Various programming
languages in robotics, Design and control issues in robotics, Applications of robotics in industry and
other fields
Unit II
Coordinate Frames and Transformations : Transformation of Vectors, Inverting a homogenous
transform, Fundamental Rotation matrices, Equivalent angle axis representation, Coordinate frames,
Mapping between frames, Description of objects in space
Unit III
Direct Kinematics : Description of links and joints, Kinematic modelling, DH Notations, Kinematic
relation between adjacent links, Manipulator transformation matrix
Unit IV
Inverse Kinematics : Manipulator workspace, Solving of inverse Kinematic model, Existence of
solutions and multiple solutions, Solution Techniques, Closed form Solutions, Guidelines for Closed
form Solutions
Unit V
Differential Motion and Statics : Linear and angular velocity of a rigid body, Relation between
transformation matrix and angular velocity, Mapping velocity vector, Velocity propagation along a
link, Manipulator Jacobian, Jacobian Inverse, Jacobian singularities, Static Analysis
Unit VI
Actuators and Sensors : Hydraulic and pneumatic actuator, DC Motor, Stepper motor, Servo motor,
AC motor, Sensors in robotics, Optical encoders, Choosing the right sensor, Robotic vision

Text Books:
1. ROBOTICS AND CONTROL by R. K. MITTAL, I. J. NAGRATH, MCGRAW HILL EDUCATION

References:
1. INTRODUCTION TO ROBOTICS: ANALYSIS, CONTROL, APPLICATIONS by SAEED [Link],
WILEY
2. INTRODUCTION TO ROBOTICS by S K SAHA, MCGRAW HILL EDUCATION

3. INDUSTRIAL ROBOTICS: TECHNOLOGY, PROGRAMMING AND APPLICATIONS by


NICHOLAS ODREY, MITCHELL WEISS, MIKELL GROOVER, ROGER N NAGEL, ASHISH DUTTA,
MCGRAW HILL EDUCATION
4. INTRODUCTION TO ROBOTICS: MECHANICS AND CONTROL by JOHN J. CRAIG, PEARSON

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