Robot Path Planning and Programming detailed syllabus for Robotics & Automation Engineering (Robotics) for 2021 regulation curriculum has been taken from the Anna University official website and presented for the Robotics students. For course code, course name, number of credits for a course and other scheme related information, do visit full semester subjects post given below.
For Robotics & Automation Engineering 5th Sem scheme and its subjects, do visit Robotics 5th Sem 2021 regulation scheme. The detailed syllabus of robot path planning and programming is as follows.
Course Objectives:
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Unit I
TRAJECTORY PLANNING APPROACHES 9
Definitions – Task planning and Trajectory planning – Representation of end-effector: Cartesian and joint space schemes. Workspace Analysis: work envelope of a multi DOF manipulator. Applications: Point to point motion and continuous path motion.
Unit II
TRAJECTORY PLANNING OF MANIPULATOR 9
Joint space techniques – Motion profiles – Cubic polynomial, Linear Segmented Parabolic Blends and cycloidal motion – Cartesian space technique – Straight line and circular trajectories.
Unit III
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Unit IV
PATH PLANNING ALGORITHMS 9
Planning – A* Algorithm – the D* algorithm – Path control. Graph search and discrete planning algorithms. – Sensor-Based Motion Planning Algorithms – the “Bug” algorithms – the Tangent Bug algorithm.
Unit V
ROS PROGRAMMING 9
Robot language classification – Programming methods: Lead through method, teach pendent method – Syntax features and applications of various programming languages – Examples – Inter locking commands – Safety features – Introduction to Robot Operating System (ROS) – ROS examples – Introduction <to programming using ROS – Industrial ROS – ROS examples -Programming for point to point /continuous – operations – Case Study
Course Outcomes:
- Recognize various trajectory planning and path planning for mobile robot and Manipulator.
- Classify trajectory planning and path planning for mobile robot and Manipulator.
- Choose appropriate Path and Trajectory planning algorithm for various Industrial Applications.
- Plan the path and trajectory for various Industrial robots and mobile robots for specific Applications.
- Program the developed path and trajectory into real time robot applications.
Text Books:
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Reference Books:
- Planning Algorithms by Steve LaValle (Cambridge Univ. Press, New York, 2006).
- Principles of Robot Motion: Theory, Algorithms, and Implementations (by Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, and Sebastian Thrun.
- Robot Motion Planning by J.C. Latombe.
- Patnaik, Srikanta , “Robot Cognition and Navigation An Experiment with Mobile Robots”, Springer-Verlag Berlin and Heidelberg, 2007.
- Reza N Jazar , “Theory of Applied Robotics”, Springer, 2010.
- Morgan Quigley, Brian Gerkey, William D. Smart, Programming Robots with Ros: A Practical Introduction to the Robot Operating System, First Edition, 2016, ISBN 9352132793; 9789352132799
For detailed syllabus of all other subjects of Robotics & Automation Engineering, 2021 regulation curriculum do visit Robotics 5th Sem subject syllabuses for 2021 regulation.
For all Robotics & Automation Engineering results, visit Anna University Robotics all semester results direct link.