Robotic Design and Control Detailed Syllabus for Electronics & Instrumentation M.Tech first year second sem is covered here. This gives the details about credits, number of hours and other details along with reference books for the course.
The detailed syllabus for Robotic Design and Control M.Tech 2017-2018 (R17) first year second sem is as follows.
M.Tech. I Year II Sem.
UNIT – I : Robot Fundamentals: Definitions, History of robots, Present and future trends in robotics, Robot classifications, Robot configurations, Point to Point robots, Continuous Path robots, Work volume, Issues in design and controlling robots Repeatability, Control resolution, Spatial resolution, Precision, Accuracy, Robot configurations, Point to Point robots, Continuous Path robots, Work volume, Applications of robots, Drives used in robots- Hydraulic, Pneumatic and Electric drives, Comparison of drive systems and their relative merits and demerits.
UNIT – II : Manipulator Kinematics: Matrix Algebra, Inverse of matrices, Rotational groups, Matrix representations of coordinate transformation, Transformation about reference frame and moving frame Forward & Inverse Kinematics examples of 2R, 3R & 3P manipulators, Specifying position and orientation of rigid bodies Euler’s angle and fixed rotation for specifying position and orientation Homogeneous coordinate transformation and examples D-H representation of kinematics linkages, Forward kinematics of 6R manipulators using D-H representations, Inverse kinematics of 6R manipulators using D-H representations, Inverse Kinematics geometric and algebraic methods, Robotics Dynamics Velocity Kinematics, Acceleration of rigid body, Mass distribution Newton’s equation, Euler’s equation, Iterative Newton–Euler’s dynamic formulation, Closed dynamic, Lagrangian formulation of manipulator dynamics, Dynamic simulation, Computational consideration.
UNIT – III : Trajectory Planning: Introduction, General considerations in path description and generation, Joint space schemes, Cartesian space schemes, Path generation in runtime, Planning path using dynamic model, Point to point and continuous trajectory, 4-3-4 & trapezioidal velocity strategy for robots.
UNIT – IV : Robot Sensors: Internal and external sensors, Position, Potentiometric, Optical sensors, Encoders Absolute, Incremental, Touch and slip sensors, Velocity and acceleration sensors, Proximity sensors, Force& torque sensors, Laser range finder, Camera, Micro-controllers, DSP, Centralized controllers, Real time operating systems.
UNIT – V : Robot Controllers Essential components: Drive for Hydraulic and Pneumatic actuators, H-bridge drives for Dc motor, Overload over current and stall detection methods, Example of a microcontroller/microprocessor based robot Controller, Micro-robotics and MEMS (Micro electro mechanical Systems), Fabrication technology for Micro-robotics, Stability issue in legged robots, Under-actuated manipulators. Robot Vision: Introduction, Image acquisition, Illumination Techniques, Image conversion, Cameras, Sensors, Camera and system interface, Frame buffers and Grabbers, Image processing, Low level & high level machine vision systems.
TEXT BOOKS:
- S. R. Deb,” Robotics Technology and Flexible Automation”, Tata McGraw Hill, 1994.
- M. P. Groover, M. Weiss, R.N. Nagel, N.G. Odrey, “Industrial Robotics (Technology, Programming, and Applications)”, McGraw Hill, 1996.
REFERENCE BOOKS:
- K. S. Fu, R. C. Gonzalez and C. S. G. Lee, “Robotics: Control, Sensors, Vision and Intelligence”, McGraw- Hill, 1987.
- J. J. Craig, “Introduction to Robotics”, Addison Wesley, 1989.
- Klafter, Richard D., et al, “Robotics Engineering”, PHI, 1996.
- Zuech, Nello, “Applying Machine Vision”, John Wiley and Sons, 1988.
For all other M.Tech 1st Year 2nd Sem syllabus go to JNTUH M.Tech Electronics & Instrumentation 1st Year 2nd Sem Course Structure for (R17) Batch.
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