JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD

Prerequisites

Kinematics of machinery

Course Objectives:

• To demonstrate knowledge of different types of actuators used in robotic systems.
• To analyze the position and velocity kinematics of a robot arm, implement in 2D.
• To analyze the dynamics of a robot arm, implement in 2D.
• To analyze sensor signals to implement real-time control algorithms.
• To demonstrate knowledge of error propagation in electrical, mechanical and computational systems.
• To construct, program, and test the operation of a robotic system to perform a specified task.

Course Outcomes

After doing this course, the student will be able to,

• Understand the evolution, classification, structures and drives for robots.
• Perform motion analysis through kinematic approach of manipulators.
• Understand robot dynamics and machine vision for robotics.
• Learn and write robot programming languages.
• Expose the students to build a robot for any type of application.

UNIT - I

Introduction: Automation and Robotics, Robot anatomy configuration, motions joint motion and notatioin, work volume, robot drive system, control system and dynamic performance, precision of movement. Control System and Components: basic concept and modals controllers control system analysis, robot actuators and feedback components (sensors): Internal & External Sensors, Positions sensors, velocity sensors - Desirable features, tactile, proximity and range sensors, uses sensors in robotics, Power Transmission Systems.

UNIT - II

Motion Analysis and Control: Manipulator kinematics, position representation Homogeneous transformation, D-H Notation, D-H Transformation Matrix, Forward & Inverse transformations, problems on planar & spatial manipulators, Differential Kinematics, Jacobian Formulation, problems, manipulator path control: Slew, Joint Interpolated & Straight line motions, trajectory planning: Joint space scheme, Cartesian space scheme, Cubic Polynomial fit without and with via point, blending.

UNIT - III

Robot Dynamics: Lagrange – Euler & Newton - Euler formulations, problems on two link planar manipulators, configuration of robot controller. End Effectors: Grippers-types, operation, mechanism, force analysis, tools as end effectors consideration in gripper selection and design. Machine Vision: Functions, Sensing and Digitizing-imaging, Devices, Lighting techniques, Analog to digital single conversion, Image storage, Image processing and Analysis-image data reduction, Segmentation feature extraction. Object recognition, training the vision system, Robotics application.

UNIT - IV

Robot Programming: Lead through programming, Robot programming as a path in space, Motion interpolation, WAIT, SINGNAL AND DELAY commands, Branching capabilities and Limitations.

Robot Languages: Textual robot languages, Generation, Robot language structures, Elements and functions.

UNIT - V

Robot Cell Design and Control: Robot cell layouts-Robot centered cell, In-line robot cell, Considerations in work cell design, Work cell control, Inter locks, Error detection, Work cell controller. Robot Applications: Material transfer, Machine loading/unloading. Processing operations, Assembly and Inspection, Future Applications.

TEXT BOOKS:

• 1. Introduction to Robotics Mechanics & Control by John J. Craig, Pearson
• 2. Industrial robotics by Mikell P. Groover, McGraw Hill.

REFERENCE BOOKS:

• 1. Industrial robotics by Mikell P. Groover, McGraw Hill
• 2. Robotics by K.S. Fu, McGraw Hill.
• 3. Introduction to Robotics Mechanics & Control by John J. Craig, Pearson
• 4. Robot Analysis by Lung Wen Tsai, John Wiley & Sons
• 5. Robot Analysis and Control by Asada H. and J. E. Slotin, Wiley, New York M. TECH. I Year II Sem. (AMS)