ABOUT THE COURSE:This course is related to experiments in robotics based on the theory of robot manipulator design and control. The course would cover the fundamental concepts and mathematics required to understand, analyze, design, and control simple robotic manipulators for industrial applications or research. Simple robotic arms are designed and controlled which would give an understanding of how to build robot arms and control using microcontrollers. After taking this course, students could take more advanced courses/topics in focused areas like, motion planning, AI, unmanned vehicles, etc. Teachers could use this course to lay the foundation of developing robotics labs and link it to manufacturing automation, AI, Computer vision applications, etc.INTENDED AUDIENCE: Students (UG 3rd/4th year in Mechanical/Electrical/Computer Science), Teachers of engineering colleges, Industry professorialPREREQUISITES: Basic Mathematics : matrices, differential equationsINDUSTRY SUPPORT: All Manufacturing companies (TATA motors, Mahindra, Maruti, Hyundai, GE, GM, etc),IT companies (TCS, Infosys, etc), process industries using robotics
Overview
Syllabus
Week 1: Introduction, robot joints, TransformationsWeek 2:DH Parameters, Forward and Inverse KinematicsWeek 3:Sensors, actuators and basics of Linear controlWeek 4:Microcontroller basics, different pins, input/output, interrupt, serial communicationWeek 5:DC motor, stepper motor control using microcontrollerWeek 6:Planer 2 link and 5 link robot arm controlWeek 7:Biped locomotion, Gait, ControlWeek 8:Industrial robot control (PUMA and Svaya)
Taught by
Prof. Ashish Dutta
