Principles of Robotics detailed Syllabus for Automation & Robotics (AO), K scheme PDF has been taken from the MSBTE official website and presented for the diploma students. For Subject Code, Subject Name, Lectures, Tutorial, Practical/Drawing, Credits, Theory (Max & Min) Marks, Practical (Max & Min) Marks, Total Marks, and other information, do visit full semester subjects post given below.
For all other MSBTE Automation & Robotics 4th Sem K Scheme Syllabus PDF, do visit MSBTE Automation & Robotics 4th Sem K Scheme Syllabus PDF Subjects. The detailed Syllabus for principles of robotics is as follows.
Rationale
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Course Outcomes:
Students will be able to achieve & demonstrate the following COs on completion of course based learning
- Identify the basic anatomy of a robotic system.
- Apply the concepts of engineering mechanics in robotic system.
- Interpret the transformations used in robotics.
- Analyse the kinematics of the robotic arm.
- Interpret the dynamics and motion planning of the robotic arm.
Unit I
Fundamentals of Robotics 1.1 Definition, brief history, Asimov’s laws of robot, robot anatomy: Base, manipulator arm, end effectors, sensors, control system, actuators 1.2 Robot arm configurations: Cartesian coordinate, polar, cylindrical, jointed arm, SCARA (Selective Compliance Assembly Robot Arm) 1.3 Types of mechanical joints in robotics system: Linear, orthogonal, rotational, twisting, revolving 1.4 Robot specification: Degree of freedom, work envelope, payload, resolution, accuracy, repeatability 1.5 End effectors of robot: Types of end effectors, mechanical grippers, pneumatic gripper, magnetic grippers, vacuum grippers, adhesive grippers 1.6 Bureau of Indian Standards (BIS) for safety in robotics: Design, safegaurds, awareness means, provisions for emergency movements of robot
Suggested Learning Pedagogie
Lecture using Chalk-Board Video Demonstratio Collaborative learning Flipped Class
Unit II
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Unit III
Transformations used in Robotics 3.1 Kinematics: Definition and significance, coordinate system and frames in robotics, reference and body frames, pose of a rigid body 3.2 Rotation matrix: Representation of orientation, concept of roll, pitch, yaw motion, elementary rotation matrix about Z axis (derivation), elementary rotation matrix about X axis and Y axis (only formula) 3.3 Coordinate transformation matrix: Description, equation, homogeneous transformation matrix (HTM)-equation, description, numerical 3.4 DH (Denavit-Hartenberg) parameters, DH rules, DH table for the given manipulator such as 2R, 2P,3P, 3R, SCARA 3.5 Transformation between DH frames and the corresponding HTM
Suggested Learning Pedagogie
Lecture using Chalk-Board Video Demonstratio Collaborative learning
Unit IV
Kinematics of the Robotic Arm 4.1 Position analysis: Concept of forward position analysis / kinematics and inverse position analysis / kinematics 4.2 Forward position analysis for 2P and 2R planar arm 4.3 Definition of linear and angular displacement, linear and angular velocity, linear and angular acceleration 4.4 Differential motion and velocities of robot: Jacobian equation in robotics, Jacobian matrix in robotics 4.5 Simple Numerical on Jacobian matrix based on the end-effector’s coordinates and joint parameters
Suggested Learning Pedagogie
Lecture using Chalk-Board Video Demonstratio Collaborative learning
Unit V
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List of Experiments:
- *Analysis of robot manipulator movement using 3D model based open source software (OSS) 2 C
- *Working of different type of joints used in robots using 3D model based OSS 2 C
- Operatation of a 2-finger pneumatic and vacuum parallel gripper of a robot 2 C
- *Verification of law of moment of forces using law of moment apparatus 2 C
- Verification of centroid of given plane 2 C
- Determination of the rotation matrix of the given manipulator along any given axis using OSS 2 C
- * Determination of the HTM for rotation and translation for the given robot manipulator using 3D model based OSS 2 C
- Analysis of DH table for different values of DH parameters of a given robot manipulator using 3D model based OSS 2 C
- *Determine the HTM for different values of DH parameters of a given robot manipulator for various links using 3D model based OSS 2 C
- *Determination of the position and orientation of end effector of a 4 axis/6 axis robot using forward kinematics 2 C
- *Determination of the joint angle for the given position of the end effector of a 4 axis/6 axis robot using inverse kinematics 2 C
- Derivation of Jacobian matrix using OSS for the given manipulator 2 C
- *Determination of the position and orientation of the end effector for the given force at the joint of a 4 axis/6 axis robot using forward dynamics 2 C
- Determination of the forces required at the joint from the position and orientation of the end effector of a 4 axis/6 axis robot using inverse dynamics 2 C
- Interpolation of Cartesian space trajectories of the given 4axis/6axis robot manipulator 2 C
- Interpolation of the joint space trajectories of the given 4 axis/6 axis robot manipulator 2 C
Self Learning
Assignment
- Solve numerical on calculation of equilibrium of simple/composite solid bodies from given problem statem
- Determine the homogeneous transformation matrix (HTM) of the given manipulator.
- Explain DH (Denavit-Hartenberg) parameters, DH rules, DH table for the given manipulator such as 2R, 2P 3R, SCARA.
- Explain Cartesian trajectories concept, point to point and continuous path motion.
- Solve the examples on calculation of dynamic equations of motion for joints of robot manipulators.
- Determine Jacobian matrix of the given manipulator based on the end-effector’s coordinates and joint param
Micro Project
- Build junkbots from recycled materials.
- Prepare a prototype of basic robots.
- Build jumping robot which will jump like a frog using materials such as motors, springs etc.
- Build a robotic arm with two degrees of freedom.
- Prepare a prototype of line follower robot.
- Prepare a prototype of robot manipulator with pneumatic actuator.
- Prepare a prototype of robot manipulator with hydraulic actuator.
- Build a dancing robot which can dance, flip, and tumble around the floor using motors and suitable material balancing.
Activity
- Prepare charts of safety measures in robots.
- Perform a survey and write a report on robots used in the packaging industry.
- Prepare charts showing comparison of end effectors of robot.
- Perform a survey and write a report on robots used in the automobile industry.
- Prepare charts or flex of Asimov’s laws of robot.
- Prepare photographic charts showing real life applications robots in various sectors.
- Prepare charts showing various elements of robot, configurations, grippers etc.
Laboratory Equipment
For the complete Syllabus, results, class timetable, and many other features kindly download the iStudy App
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Learning Materials
- Saha, S.K. Introduction to Robotics McGraw Hill Education Ltd. 2008 978-0070140011
- Craig, J.J. Introduction to Robotics (Mechanics and Control) Pearson Education Ltd. 2 978-0133489798
- Ghosal, A. Robotics- Fundamental Concepts and Analysis Oxford University Press 978-0195673913
- Khurmi, R.S.; Khurmi, N. Engineering Mechanics S.Chand & Co. New Del 2018 978-9352833962
- Spong, Mark W.; Hutchinson, Seth; Vidyasagar, M. Robot Modeling and Control Wiley 2020 978-1119523994
Learning Websites
- http://www.roboanalyzer.com/virtual-experiments.html A 3D model based open source software to teach robotics subjects
- http://vlabs.iitkgp.ac.in/mr/ Virtual lab for Robotics developed IIT Kharagpur
- https://archive.nptel.ac.in/courses/112/104/112104298/ NPTEL study material for chapter 1,3,4,5
- https://www.scilab.org/ Free ware open source software to out Jacobian matrix
- https://www.coursera.org/specializations/modernrobotics Modern Robotics: Mechanics, Planning, and Control Specializatio
- https://archive.org/details/gov.in.is.14530.1998/page/n3/mod e/2up BIS for safety in robotics
For detail Syllabus of all other subjects of Automation & Robotics, K scheme do visit Automation & Robotics 4th Sem Syllabus for K scheme.
For all Automation & Robotics results, visit MSBTE Automation & Robotics all semester results direct links.