EC8074 - ROBOTICS AND AUTOMATION (Syllabus) 2017-regulation Anna University

EC8074 - ROBOTICS AND AUTOMATION (Syllabus) 2017-regulation Anna University

EC8074	ROBOTICS AND AUTOMATION	LPTC

3003

OBJECTIVES: The student should be made:

• To understand the basic concepts associated with the design, functioning, applications and social aspects of robots
• To study about the electrical drive systems and sensors used in robotics for various applications
• To learn about analyzing robot kinematics, dynamics through different methodologies and study various design aspects of robot arm manipulator and end-effector
• To learn about various motion planning techniques and the associated control architecture
• To understand the implications of AI and other trending concepts of robotics

UNIT I	FOUNDATION FOR BEGINNERS	9

Introduction -- brief history, definition, anatomy, types, classification, specification and need based applications; role and need of robots for the immediate problems of the society, future of mankind and automation-ethical issues; industrial scenario local and global, case studies on mobile robot research platform and industrial serial arm manipulator

UNIT II	BUILDING BLOCKS OF A ROBOT	9

Types of electric motors - DC, Servo, Stepper; specification, drives for motors - speed & direction control and circuitry, Selection criterion for actuators, direct drives, non-traditional actuators; Sensors for localization, navigation, obstacle avoidance and path planning in known and unknown environments – optical, inertial, thermal, chemical, biosensor, other common sensors; Case study on choice of sensors and actuators for maze solving robot and self driving cars

UNIT III	KINEMATICS, DYNAMICS AND DESIGN OF ROBOTS & END-EFFECTORS	9

Robot kinematics - Geometric approach for 2R, 3R manipulators, homogenous transformation using D-H representation, kinematics of WMR, Lagrangian formulation for 2R robot dynamics; Mechanical design aspects of a 2R manipulator, WMR; End-effector - common types and design case study.

UNIT IV	NAVIGATION, PATH PLANNING AND CONTROL ARCHITECTURE	9

Mapping & Navigation – SLAM, Path planning for serial manipulators; types of control architectures - Cartesian control, Force control and hybrid position/force control, Behaviour based control, application of Neural network, fuzzy logic, optimization algorithms for navigation problems, programming methodologies of a robot

UNIT V	AI AND OTHER RESEARCH TRENDS IN ROBOTICS	9

Application of Machine learning - AI, Expert systems; Tele-robotics and Virtual Reality, Micro & Nanorobots, Unmanned vehicles, Cognitive robotics, Evolutionary robotics, Humanoids

TOTAL: 45 PERIODS

OUTCOMES: The student should be able to:

• Explain the concepts of industrial robots in terms of classification, specifications and coordinate systems, along with the need and application of robots & automation
• Examine different sensors and actuators for applications like maze solving and self driving cars.
• Design a 2R robot & an end-effector and solve the kinematics and dynamics of motion for robots.
• Explain navigation and path planning techniques along with the control architectures adopted for robot motion planning.
• Describe the impact and progress in AI and other research trends in the field of robotics

TEXT BOOKS:

1. Saeed. B. Niku, Introduction to Robotics, Analysis, system, Applications, Pearson educations, 2002
2. Roland Siegwart, Illah Reza Nourbakhsh, Introduction to Autonomous Mobile Robots, MIT Press, 2011

REFERENCES:

1. Richard David Klafter, Thomas A. Chmielewski, Michael Negin, Robotic engineering: an integrated approach, Prentice Hall, 1989
2. Craig, J. J., Introduction to Robotics: Mechanics and Control, 2nd Edition, Addison-Wesley, 1989.
3. K.S. Fu, R.C. Gonzalez and C.S.G. Lee, Robotics: Control, Sensing, Vision and Intelligence, McGraw-Hill, 1987.
4. Wesley E Snyder R, Industrial Robots, Computer Interfacing and Control, Prentice Hall International Edition, 1988.
5. Robin Murphy, Introduction to AI Robotics, MIT Press, 2000
6. Ronald C. Arkin, Behavior-based Robotics, MIT Press, 1998
7. N. P. Padhy, Artificial Intelligence and Intelligent Systems, Oxford University Press, 2005
8. Stefano Nolfi, Dario Floreano, Evolutionary Robotics – The Biology, Intelligence and Technology of Self–Organizing Machines (Intelligent Robotics and Autonomous Agents series), MIT Press, 2004.