Robotics

Robotics deals with the design, construction, operation, and use of robots, as well as computer systems for their control, sensory feedback, and information processing.


Introduction Of Robotics

  • History of Robots
  • Types of Robots, Notation

Mathematical Representation of Robots

  • Position and Orientation of a Rigid Body
  • Some Properties of Rotation Matrices
  • Successive Rotations,moving frame ZYZ
  • Transformation between coordinate system
  • Types of Joints: Rotary
  • Representation of Links using Denvit - Hartenberg Parameters

Kinematics of Serial Manipulators

  • Direct kinematics of 2R, 3R, RRP, RPR
  • Puma560 manipulator
  • SCARA manipulator
  • Stanford Arm
  • Inverse kinematics of 2R, 3R manipulator

Velocity and Statics of Manipulators

  • Differential Relationships
  • Jacobian
  • Differential motions of a frame (translation and rotation)
  • Linear and angular velocity of a rigid body
  • links in serial manipulators, 2R, 3R manipulator
  • 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.

Dynamics of Manipulators

  • Kinetic energy
  • Potential energy
  • Equation of motions
  • Inertia of a link
  • Recursive formulation of Dynamics using Newton Euler equation

Trajectory Planning

  • Joint space schemes
  • Cubic Trajectory
  • Joint space schemes with via points
  • Cubic trajectory with a via point
  • Third order polynomial trajectory planning
  • Linear segments with parabolic blends
  • Cartesian space schemes
  • Cartesian straight line and circular motion planning

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
  • position controller

Actuators

  • Types
  • Characteristics of actuating system
  • proportional feedback control
  • Electric motors
  • DC motors, Reversible AC motors, Brushles DC motors, Stepper motors
  • stepper motor speed-torque characteristics

Sensors

  • Sensor characteristics
  • Position sensors- potentiometers
  • Encoders, LVDT, Resolvers
  • Displacement sensor
  • Velocity sensor-encoders, tachometers
  • Acceleration sensors
  • Torque sensors
  • Touch and tactile sensor
  • Proximity sensors-magnetic
  • optical, ultrasonic, inductive, capacitive, eddy-current proximity sensors
Duration Level
4/6 Weeks Basic / Standard
3/6 Months Basic / Project Based