JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD

UNIT - I

Robotics Foundation: Definition and origin of robotics – different types of robotics -various generations of robots– degrees of freedom, Kinematics: position and orientation representation -joint kinematics-inverse kinematics-forward. Instantaneous kinematics- inverse instantaneous kinematics- Dynamic: Spatial vector notation, dynamic model of rigid body system, kinematic tree, and kinematic loop.

UNIT - II

Motion Planning and Control: Motion planning: Motion planning concept- sampling based planning- Motion control: Introduction to motion control- join spaces verses operational space control- independent join control- PID control- tracking control- computed torque control- Adaptive control- optimal and robust control- digital implementation- learning control- indirect force control- hybrid force control.

UNIT - III

Sensor Based Planning and Control: Force and tactile sensor- Inertial sensor- GPS and Odometry: Odometry, gyroscopic system, GPS, IMU integration- Sonar sensor: CTFM sonar- Multipulse sonar- sonar ring- Bio-mimetric sonar- Range sensor- Visual servoing and visual tracking: Basic component of visual servoing- Image based visual servo- Position based visual servo- Performance optimization and planning- Estimation of 3D parameters.

UNIT - IV

Mobile and Distributed Robotics: Motion control of wheeled mobile robots- Motion planning and obstacle avoidance: Non-holonomic mobile robots-Motion planning and obstacle avoidance- Definition of Obstacle avoidance- Obstacle avoidance technique. Distributed and cellular robots: Modularity for locomotion-Modularity for manipulation- modularity for geometric configuration and robot system. Multiple mobile robot system: Architecture for multi robot system-swarm robot- heterogeneity- task allocation-learning.

UNIT - V

Automation and Medical Robotics: Introduction of medical automation-Application of automation: Bar coding- RFID and wireless tracking- Human factor issue with automation- Medical robotics and computer integrated surgery, Rehabilitation and health care robotics: Physical therapy and training robots- Aids for people with 28disability- Smart prosthesis and orthosis- Augmentation for diagnosis and monitoring safety ethics.

TEXT BOOKS:

• 1. Brunosciliano, Oussama Khatib, “Springer Handbook of Robotics”, Springer-verlag berlin Heidelberg, 1st Edition, 2008.
• 2. Robin felder, “System Engineering Approch to automation”, Artech House Inc, 1st Edition, 2008.
• 3. Mikell P. Weiss G.M., Nagel R.N, Odraj N.G., “ Industrial Robotics”, McGraw-Hill Singapore, 1st Edition,1996.

REFERENCE BOOKS:

• 1. Ghosh, “Control in Robotics and Automation: Sensor Based Integration”, Allied Publishers, Chennai, 1st Edition, 1998.
• 2. Nagrath and Mittal, “Robotics and Control”, Tata McGraw-Hill, 1st Edition 2003.
• 3. Fu. K.S, Gonzalez, R.C., Lee, C.S.G, “Robotics, control, sensing, Vision and Intelligence”, McGraw Hill International, 1st Edition, 2008.
• 4. Hannes Bleuler, M. Bouri, Doina Pisla, Aleksandar Rodic, Calin Vaida, Adrian Pisla, “New Trends in Medical and Service Robots: Theory and Integrated Applications” Springer link, 2014