JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD

Course Objectives:

• To study the various parts of robots and fields of robotics.
• To study the various kinematics and inverse kinematics of robots.
• To study the Euler, Lagrangian formulation of Robot dynamics.
• To study the trajectory planning for robot.
• To study the control of robots for some specific applications.

UNIT - I

Basic Concepts: Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov’s laws of robotics – dynamic stabilization of robots.

UNIT - II

Power Sources and Sensors: 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 - III

Manipulators, Actuators and Grippers: Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers –design considerations.

UNIT - IV

Kinematics and Path Planning: Solution of inverse kinematics problem – multiple solution jacobian work envelop – hill climbing techniques – robot programming languages.

UNIT - V

Case Studies: Multiple robots – machine interface – robots in manufacturing and non- manufacturing applications – robot cell design – selection of robot.

TEXT BOOKS:

• 1. Mikell P. Weiss G.M., Nagel R.N., Odraj N.G., Industrial Robotics, McGraw-Hill Singapore, 1996.
• 2. Ghosh, Control in Robotics and Automation: Sensor Based Integration, Allied Publishers, Chennai, 1998. R16 B.TECH BIOMEDICAL ENGG.

REFERENCE BOOKS:

• 1. Deb.S.R., Robotics technology and flexible Automation, John Wiley, USA 1992.
• 2. Asfahl C.R., Robots and manufacturing Automation, John Wiley, USA 1992.
• 3. Klafter R.D., Chimielewski T.A., Negin M., Robotic Engineering – An integrated approach, Prentice Hall of India, New Delhi, 1994.
• 4. Mc Kerrow P.J. Introduction to Robotics, Addison Wesley, USA, 1991.
• 5. Issac Asimov I Robot, Ballantine Books, New York, 1986. R16 B.TECH BIOMEDICAL ENGG.