Automation and Robotics

Course Title: Automation and Robotics

Course No: CSC371

Nature of the Course: Theory + Lab

Semester: VI

Full Marks: 60 + 20 + 20

Pass Marks: 24 + 8 + 8

Credit Hrs: 3

Course Description

This course provides a detailed idea about the fields of robotics and its control mechanisms.

Course Objectives

The main objective is to provide information on various parts of robots and an idea on fields of robotics. It also focuses on various kinematics and inverse kinematics of robots, trajectory planning of robots, and the study of control of robots for some specific applications.

Course Contents
Unit 1: Introduction (8 Hrs.)
  • Definition and Origin of Robotics
  • Types of Robotics
  • Major Components
  • Historical Development of Robots
  • Robotic System and Robot Anatomy
  • Degrees of Freedom
  • Coordinate System and Its Types
  • Asimov's Laws of Robotics
  • Dynamic Stabilization of Robots
Unit 2: Power Sources and Sensors (8 Hrs.)
  • Hydraulic, Pneumatic, and Electric Drives
  • Determination of HP of Motor and Gearing Ratio
  • Variable Speed Arrangements
  • Path Determination
  • Micro Machines in Robotics
  • Machine Vision
  • Ranging, Laser, Acoustic, Magnetic, Fiber Optic, and Tactile Sensors
Unit 3: Manipulators, Actuators, and Grippers (8 Hrs.)
  • Manipulators: Classification
  • Construction of Manipulators
  • Manipulator Dynamics and Force Control
  • Electronic and Pneumatic Manipulator Control
  • End Effectors, Loads, and Forces
  • Grippers: Design Considerations
  • Robot Motion Control
  • Position Sensing
Unit 4: Kinematics and Path Planning (8 Hrs.)
  • Solution of Inverse Kinematics Problem
  • Multiple Solutions Jacobian
  • Work Envelope
  • Hill Climbing Techniques
  • Robot Programming Languages
Unit 5: Process Control (8 Hrs.)
  • Process Control and Types
  • On-Off Control Systems
  • Proportional Control Systems
  • Proportional Plus Integral (PI) Control Systems
  • Three Mode Control (PID) Control Systems
  • Process Control Tuning
Unit 6: Case Studies (5 Hrs.)
  • Multiple Robots
  • Machine Interface
  • Robots in Manufacturing and Non-Manufacturing Applications
  • Robot Cell Design
  • Selection of a Robot
Laboratory Works

The laboratory work should focus on the implementation of sensors and the design of control systems. It should also deal with developing programs related to robot design and control using Python.

Text Books
  • Mikell P. Weiss, G.M., Nagel R.N., Odraj N.G., Industrial Robotics, McGraw Hill.
  • Ghosh, Control in Robotics and Automation: Sensor Based Integration, Allied Publishers.
References
  • Jain K.C. and Aggarwal B.E., Robotics – Principles and Practice, Khanna Publishers.
  • Schuler, C.A. and McNamee, W.L. Modern Industrial Electronics, Macmillan/McGraw-Hill.
  • Klafter R.D., Chimielewski T.A., Negin M., Robotic Engineering – An Integrated Approach, Prentice Hall of India.
  • Deb.S.R., Robotics Technology and Flexible Automation, John Wiley, USA 1992.
  • Asfahl C.R., Robots and Manufacturing Automation, John Wiley, USA 1992.
  • Mc Kerrow P.J., Introduction to Robotics, Addison Wesley, USA, 1991.
  • Issac Asimov, I, Robot, Ballantine Books, New York, 1986.