SCHOOL OF ENGINEERING & SCIENCES Department of Mechanical Engineering.
Course Code Course Title Category
21MTMA102R PRINCIPLES OF ROBOTICS Program Core
Contact Hours per Week
L T D/P CA FE Credits
3 0 0 50 50 3
Prerequisite: Not applicable
Course objectives:
Students should be able
1. To introduce the functional elements of Robotics
2. Impart knowledge on the direct and inverse kinematics
3. Introduce the manipulator dynamics and control.
4. To understand how programming is done in robotics.
5. To understand the sensors application in robotics.
COURSE CONTENTS
Unit I. Introduction (09)
Definition of Robot & Robotics, Historical Development, Definitions, Basic Structure of Robots, Robot
Anatomy, Complete Classification of Robots, Fundamentals about Robot Technology, Basic Robot
Configurations, Drive system, the Wrist & Gripper Subassemblies, Concepts about Basic Control System,
Control Loops of Robotic Systems, Different Types of Controllers-Proportional, Integral, Differential, PID
controllers.
Unit II. Kinematics of Robot Manipulator (09)
Introduction, General Mathematical Preliminaries on Vectors& Matrices, Direct Kinematics problem,
Geometry Based Direct kinematics problem, Co-ordinate and vector transformation using matrices, Rotation
matrix, Inverse Transformations, Problems, Composite Rotation matrix, Homogenous Transformations,
Robotic Manipulator Joint Co-Ordinate System, Euler Angle & Euler Transformations, Roll-Pitch-
Yaw(RPY) Transformation. D H Representation & Displacement Matrices for Standard Configurations,
Jacobian Transformation in Robotic Manipulation. Introduction, Trajectory Interpolators.
Unit III. Dynamics of Robotic Manipulators (09)
Introduction, Preliminary Definitions, Generalized Robotic Coordinates, Jacobian for a two link Manipulator,
Euler Equations, and The Lagrangian Equations of motion. Application of Lagrange–Euler (LE) Dynamic
Modelling of Robotic Manipulators: - Velocity of Joints, Kinetic Energy of Arm, Potential Energy of Robotic
Arm, The Lagrange, Two Link Robotic Dynamics with Distributed Mass.
Unit IV. Robot Programming (09)
Introduction, Various Teaching Methods, Task Programming, Survey of Robot Level Programming
Languages, A Robot Program as a Path in Space, Motion Interpolation, Various Robots Commands,
Branching, Robot Language Structure, various Textual Robot Languages Such as VAL II, RAIL and their
Features, Typical Programming Examples such as Palletizing, Loading a Machine Etc.
Unit V. Robot Sensing & Vision (09)
Various Sensors and their Classification, Use of Sensors and Sensor Based System in Robotics, Machine
Vision System, Description, Sensing, Digitizing, Image Processing and Analysis and Application of Machine
Vision System, Robotic Assembly Sensors and Intelligent Sensors. Industrial Applications: Objectives,
Automation in Manufacturing, Robot Application in Industry, Task Programming, Robot Intelligence and
Task Planning, Modern Robots.
M. Tech (Robotics & Automation) 2021 (R) Pattern (SOES) 9
SCHOOL OF ENGINEERING & SCIENCES Department of Mechanical Engineering.
COURSE OUTCOMES:
At the end of the course the student will be able to:
1. Demonstrate the relationship between mechanical structures of industrial robots and their operational workspace
characteristics.
2. Apply the concepts of coordinate transformations for development of arm equation and subsequently the inverse
kinematics model for given serial manipulator.
3. Develop and analyse the mathematical model for trajectory planning, resolved motion rate control and dynamics
model for a given serial robotic manipulator
4. Develop the algorithms for design of robotic work cell controller and its programming
5. Design and analyse the work cell environment for given robotic manipulator configuration and work cell devices for
required integrated industrial application.
Textbooks
1. Robotics, control vision and Intelligence-Fu, Lee and Gonzalez. McGraw Hill International, 2nd edition, 2007
2. Introduction to Robotics- John J. Craig, Addison Wesley Publishing, 3rd edition, 2010.
Reference Books
1. Robotics for Engineers –Yoram Koren, McGraw Hill International, 1st edition, 1985.
2. Industrial Robotics- Groover, Weiss, Nagel, McGraw Hill International, 2nd edition, 2012.
3. Robotic Engineering - An Integrated approach, Klafter, Chmielewski and Negin, PHI, 1st edition, 2009.
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M. Tech (Robotics & Automation) 2021 (R) Pattern (SOES) 10