CEI332 Robotics and Automation Syllabus:

CEI332 Robotics and Automation Syllabus – Anna University Regulation 2021

COURSE OBJECTIVES:

1. To study the various parts of robots and fields of robotics.
2. To study the various kinematics & inverse kinematics of robots, the Euler & Lagrangian formulation of Robot dynamics.
3. To study the trajectory planning and the control of robots for some specific applications.
4. To educate on various path planning techniques and introduce the dynamics & control of manipulators

UNIT I BASICT CONCEPTS

Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Robot classifications and specifications- Asimov’s laws of robotics – dynamic stabilization of robots

UNIT II POWER SOURCES, SENSORS AND ACTUATORS

Hydraulic, pneumatic and electric drives: Design and control issues – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors

UNIT III MANIPULATORS AND GRIPPERS DIFFERENTIAL MOTION

Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers – design considerations.

UNIT IV KINEMATICS AND PATH PLANNING

Linear and angular velocities-Manipulator Jacobian-Prismatic and rotary joints–Inverse -Wrist andarm singularity – Static analysis – Force and moment BalanceSolution kinematics problem – robot programming languages.

UNIT V DYNAMICS AND CONTROL AND APPLICATIONS

Lagrangian mechanics-2DOF Manipulator-Lagrange Euler formulation-Dynamic model – Manipulator control problem-Linear control schemes – PID control scheme-Force control of robotic manipulator.Multiple robots – machine interface – robots in manufacturing and non- manufacturing applications – robot cell design – selection of robot.

TOTAL 45 PERIODS

SKILL DEVELOPMENT ACTIVITIES (Group Seminar/Mini Project/Assignment/Content Preparation / Quiz/ Surprise Test / Solving GATE questions/ etc)

1. Learn any one programming language (C/C++, Python, Java etc.)
2. Kinds of sensors for industrial robot applications.
3. Familiarization with relevant software tool (MATLAB) and programming language
4. Controlling Arduino Robot using Android Smartphone
5. Real time robotics projects (Soccer robots, line follower etc)

COURSE OUTCOMES:

CO1 Understand the evolution of robot technology and mathematically represent different types of robot.
CO2 Get exposed to the case studies and design of robot machine interface.
CO3 Analyze various control schemes of Robotics control.
CO4 Ability to select appropriate configuration of rotor for a specific application.
CO5 Ability to choose actuator/sensor for robot.

TEXT BOOKS:

1. Mikell P. Weiss G.M., Nagel R.N., Odraj N.G., Industrial Robotics, McGraw-Hill Singapore, 2015.
2. Saeed B Niku, Introduction to Robotics, Analysis, Systems, Applications Prentice Hall, 3rd edition 2104.

REFERENCES:

1. Deb.S.R., Robotics technology and flexible Automation, John Wiley, USA 2nd edition (2017)
2. Klafter R.D., Chimielewski T.A., Negin M., Robotic Engineering – An integrated approach, Prentice Hall of India, New Delhi, 1994.
3. R.K.Mittal and I.J.Nagrath, Robotics and Control, Tata McGraw Hill, New Delhi,4th Reprint,2005
4. JohnJ.Craig ,Introduction to Robotics Mechanics and Control, Third edition, Pearson Education,2009.