AS

# 18AS823: Robotics AS Syllabus for BE 8th Sem 2018 Scheme VTU (Professional Elective-4)

Robotics detailed Syllabus for Aerospace Engineering (AS), 2018 scheme has been taken from the VTUs official website and presented for the VTU students. For Course Code, Subject Names, Teaching Department, Paper Setting Board, Theory Lectures, Tutorial, Practical/Drawing, Duration in Hours, CIE Marks, Total Marks, Credits and other information, visit full semester subjects post given below. The Syllabus PDF files can also be downloaded from the official website of the university.

For all the other VTU AS 8th Sem Syllabus for BE 2018 Scheme, visit Aerospace Engineering 8th Sem 2018 Scheme.

For all the (Professional Elective-4) subjects refer to Professional Elective-4 Scheme. The detail syllabus for robotics is as follows.

#### Course Objectives:

For the complete Syllabus, results, class timetable, and many other features kindly download the iStudy App
It is a lightweight, easy to use, no images, and no pdfs platform to make students’s lives easier.
.

#### Module 1

Introduction and Mathematical Representation of Robots: History of Robots, Types of Robots, Notation, Position and Orientation of a Rigid Body, Some Properties of Rotation Matrices, Successive Rotations, Euler Angles for fixed frames X- Y -Z and moving frame ZYZ. Transformation between coordinate system, Homogeneous coordinates, Properties of A/BT, Types of Joints: Rotary, Prismatic joint, Cylindrical joint, Spherical joint, Representation of Links using Denvit-Hartenberg Parameters: Link parameters for intermediate, first and last links, Link transformation matrices, Transformation matrices of 3R manipulator, PUMA560 manipulator, SCARA manipulator.

#### Module 2

Kinematics of Serial Manipulators: Direct kinematics of 2R, 3R, RRP, RPR manipulator, puma560 manipulator, SCARA manipulator, Stanford arm, Inverse kinematics of 2R, 3R manipulator, puma560 manipulator. Velocity and Static’s of Manipulators: Differential relationships, Jacobian, Differential motions of a frame (translation and rotation), Linear and angular velocity of a rigid body, Linear and angular velocities of links in serial manipulators, 2R, 3R manipulators, Jacobian of serial manipulator, Velocity ellipse of 2R manipulator, Singularities of 2R manipulators, Statics of serial manipulators, Static force and torque analysis of 3R manipulator, Singularity in force domain.

#### Module 3

For the complete Syllabus, results, class timetable, and many other features kindly download the iStudy App
It is a lightweight, easy to use, no images, and no pdfs platform to make students’s lives easier.
.

#### Module 4

Control: Feedback control of a single link manipulator- first order, second order system, PID control, PID control of multi link manipulator, Force control of manipulator, force control of single mass, Partitioning a task for force and position control- lever, peg in hole Hybrid force and position controller. Actuators: Types, Characteristics of actuating system: weight, power-to-weight ratio, operating pressure, stiffness vs. compliance, Use of reduction gears, comparison of hydraulic, electric, pneumatic actuators, Hydraulic actuators, proportional feedback control, Electric motors: DC motors, Reversible AC motors, Brushless DC motors, Stepper motors- structure and principle of operation, stepper motor speed-torque characteristics

#### Module 5

Sensors: Sensor characteristics, Position sensors- potentiometers, Encoders, LVDT, Resolvers, Displacement sensor, Velocity sensor-encoders, tachometers, Acceleration sensors, Force and Pressure sensors piezoelectric, force sensing resistor, Torque sensors, Touch and tactile sensor, Proximity sensors-magnetic, optical, ultrasonic, inductive, capacitive, eddy-current proximity sensors.

#### Course Outcomes:

For the complete Syllabus, results, class timetable, and many other features kindly download the iStudy App
It is a lightweight, easy to use, no images, and no pdfs platform to make students’s lives easier.
.

#### Question paper pattern:

• The question paper will have ten full questions carrying equal marks.
• Each full question will be for 20 marks.
• There will be two full questions (with a maximum of four sub- questions) from each module.
• Each full question will have sub- question covering all the topics under a module.
• The students will have to answer five full questions, selecting one full question from each module.

#### Text Books:

1. Fundamental Concepts and Analysis of Robotics Ghosal A Oxford 2006
2. Introduction to Robotics Analysis, Systems, Niku, S. B Pearso Education 2008

#### Reference Books:

For the complete Syllabus, results, class timetable, and many other features kindly download the iStudy App
It is a lightweight, easy to use, no images, and no pdfs platform to make students’s lives easier.
.

For the detail Syllabus of all other subjects of BE (AS) 8th Sem, visit Aerospace Engineering 8th Sem Subjects.

For all (CBSE & Non-CBSC) BE/B.Tech results, visit VTU BE/B.Tech all semester results.