Books
TEXT BOOK:
[Link], “Industrial Robotics – Technology,
Programming and Applications”, McGraw-Hill,
2001
REFERENCES:
Fu.K.S. Gonzalz.R.C., and Lee C.S.G., “Robotics
Control, Sensing, Vision and Intelligence”,
McGraw-Hill Book Co., 1987
Yoram Koren, “Robotics for Engineers”, McGraw-
Hill Book Co., 1992
Janakiraman.P.A., “Robotics and Image
Processing”, Tata McGraw-Hill, 1995
[Link],’ROBOTICS’ Lakshmi Publications,
Chennai
OBJECTIVES
To understand the
basic concepts
associated with the
design and functioning
and applications of
Robots
To study about the
drives and sensors
used in Robots
To learn about
analyzing robot
kinematics and robot
programming
Pre Requisite :
Post Requisite
[Link] Mechanics
[Link] Robotics
[Link] of Materials
Design
[Link] of
machinery
[Link] of machinery
[Link] of Machine
elements
[Link] of Transmission
systems
[Link] Hydraulics and
Pneumatics
[Link]
UNIT I FUNDAMENTALS OF
ROBOT
Robot – Definition – Robot
Anatomy – Co-ordinate
Systems, Work Envelope,
types and classification –
Specifications – Pitch, Yaw,
Roll, Joint Notations, Speed
of Motion, Pay Load – Robot
Parts and Functions – Need
for Robots – Different
Applications
UNIT II ROBOT DRIVE SYSTEMS AND
END EFFECTORS
Pneumatic Drives – Hydraulic
Drives – Mechanical Drives –
Electrical Drives – D.C. Servo
Motors, Stepper Motor, A.C. Servo
Motors – Salient Features,
Applications and Comparison of
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
Requirements of a sensor, Principles and Applications of
the following types of sensors – Position of sensors
(Piezo Electric Sensor, LVDT, Resolvers, Optical
Encoders, Pneumatic Position Sensors), Range Sensors
(Triangulation Principle, Structured, Lighting Approach,
Time of Flight Range Finders, Laser Range Meters),
Proximity Sensors (Inductive, Hall Effect, Capacitive,
Ultrasonic and Optical Proximity Sensors), 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: Edge detection, Feature Extraction and
Object Recognition - Algorithms. Applications –
Inspection, Identification, Visual Serving and
Navigation.
UNIT IV ROBOT KINEMATICS AND ROBOT
PROGRAMMING
Forward Kinematics, Inverse Kinematics and
Differences; Forward Kinematics and Reverse
Kinematics of Manipulators with Two, Three
Degrees of Freedom (In 2 Dimensional), Four
Degrees of Freedom (In 3 Dimensional) –
Deviations and Problems.
Teach Pendant Programming, Lead through
programming, Robot programming
Languages – VAL Programming – Motion
Commands, Sensor Commands, End effecter
commands, and Simple programs
UNIT V IMPLEMENTATION AND
ROBOT ECONOMICS
RGV, AGV; Implementation of Robots in
Industries – Various Steps; Safety
Considerations for Robot Operations;
Economic Analysis of Robots – Pay back
Method, EUAC Method, Rate of Return
Method.
OUTCOMES
Upon completion of this course, the students
can able to apply the basic engineering
knowledge for the design of robotics
Introduction to
Robotics
What is a
Robot: I
Manipula
tor
What is a
Robot: II
Legged Robot Wheeled Robot
What is a
Robot: III
Autonomous Underwater Vehicle Unmanned Aerial Vehicle
What Can Robots Do: I
Jobs that are
dangerous for
humans
Decontaminating Robot
Cleaning the main circulating pump
housing in the nuclear power plant
What Can Robots Do: II
Repetitive jobs that
are boring, stressful,
or labor-intensive for
humans
Welding Robot
What Can Robots Do: III
Menial tasks that
human don’t want to
do
The SCRUBMATE Robot
History of Robotics: I
The first industrial
robot: UNIMATE
1954: The first programmable
robot is designed by George
Devol, who coins the term
Universal Automation. He later
shortens this to Unimation,
which becomes the name of the
first robot company (1962).
UNIMATE originally
automated the manufacture
of TV picture tubes
History of Robotics: II
1978: The Puma (Programmable
Universal Machine for Assembly)
robot is developed by Unimation
with a General Motors design
support
PUMA 560 Manipulator
History of Robotics: III
1980s: The robot industry enters a phase of rapid growth. Many
institutions introduce programs and courses in robotics. Robotics
courses are spread across mechanical engineering, electrical
engineering, and computer science departments.
Adept's SCARA Cognex In-Sight Robot Barrett Technology
History of Robotics: IV
1995-present:
Emerging
applications in small
robotics and mobile
robots drive a
second growth of
start-up companies
and research
2003: NASA’s Mars Exploration Rovers launch toward Mars in
search of answers about the history of water on Mars
Key Components
Power conversion
unit
Sensor Actuators
s
Controll
er
User
interface
Manipulator
linkage
Base
Robot Base: Fixed v/s Mobile
Robotic manipulators used in Mobile bases are typically
manufacturing are examples of platforms with wheels or tracks
fixed robots. They can not attached. Instead of wheels or
move their base away from the tracks, some robots employ
work being done. legs in order to move about.
What Can Robots Do?
Industrial Robots
•Material handling
•Material transfer
•Machine loading and/or
unloading
•Spot welding Material Handling
•Continuous arc welding Manipulator
•Spray coating
•Assembly
•Inspection
Assembly
Manipulator
Spot Welding
Robots in Space
NASA Space Station
Medical Robots
Robotic assistant for
micro surgery
Robots at
Home
ony SDR-3X Entertainment Robot Sony Aido
Future of Robots: I
Artificial
Intelligence
Cog Kismet
Future of Robots: II
Autonomy
Robot Work Crews Garbage Collection Cart
Future of Robots: III
Humanoids
HONDA Humanoid Robot
Remote Robot Arm
Smart Irrigation System Manipulation
Smart Cane
Remote Emergency
Notification System
Robotics @ MPCRL—II
Type-X
RoboDry
Local Navigation System Safe N Sound
Robotics @ MPCRL—III
Four Legged
Metal Mine Surveyor
Hexapod
Audio Enabled Hexapod
RoboVac
