Robotics and Control detailed syllabus for Chemical Engineering (Chemical) for 2020-21 regulation curriculum has been taken from the Rajasthan Technical University official website and presented for the chemical engineering 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 Chemical Engineering 8th Sem scheme and its subjects, do visit Chemical 8th Sem 2020-21 regulation scheme. For Open Elective-2 scheme and its subjects refer to Chemical Open Elective-2 syllabus scheme. The detailed syllabus of robotics and control is as follows.
Unit 1
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Unit 2
Introduction to control problem- Industrial Control examples. Transfer function. System response. Control hardware and their models: potentiometers, synchros, LVDT, dc and ac servomotors, tachogenerators, electro hydraulic valves, hydraulic servomotors, electro pneumatic valves, pneumatic actuators. Closed-loop systems. Block diagram and signal flow graph analysis. Stability, steady-state accuracy, transient accuracy, disturbance rejection, insensitivity and robustness. proportional, integral and derivative systems. Feedforward and multiloop control configurations, stability concept, relative stability, Routh stability criterion
Unit 3
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Unit 4
ROBOT ARM KINEMATICS: Introduction, The direct Kinematics Problem, Rotation Matrices, Composite Rotation Matrix, Rotation matrix about an arbitrary axis, Rotation matrix with Euler angle representation, Geometric interpretation of Homogeneous transformation matrices, composite homogeneous transformation matrix, Links joints and their parameters. The Denavit Hartenberg representation. Kinematic equations for manipulators, Other specifications of the locations of the End-Effector, Classification of Manipulators, The inverse Kinematics problem, Inverse Transform Technique for Euler Angles Solution
Unit 5
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Unit 6
Proximity sensing, Inductive sensors, Hall effect sensors, Capacitive Sensors, Ultrasonic sensors, Optical Proximity Sensors, Touch sensors, Binary sensors, Analog sensors, Force and Torque sensing, Elements of a Wrist sensor. LOW-LEVEL VISION: Image acquisition, illumination Techniques, imaging geometry, some basic transformations, perspective transformations. Higher-Level Vision: Segmentation, Edge Linking and Boundary detection,
Unit 7
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Text/Reference Books:
- Robotics control sensing Vision and Intelligence- K.S.Fu, R.C. Gonzalez, C.S.G. Lee, McGraw Hill, 1987.
- Ogata, K., ‘Modern Control Engineering’, Prentice Hall, second edition, 1991.
- Introduction to Robotics Mechanics and control- John J. Craig, 2nd Edition, Pearson education, 2003.
- Nagrath&Gopal, ‘Modern Control Engineering’, New Age International, New Delhi
- James G.Keramas, ‘Robot Technology Fundamentals’ , Cengage learning
For detailed syllabus of all other subjects of Chemical Engineering, 2020-21 regulation curriculum do visit Chemical 8th Sem subject syllabuses for 2020-21 regulation.
For all Chemical Engineering results, visit Rajasthan Technical University chemical engineering all semester results direct link.