ABOUT THE COURSE:The content of the course is designed as a basic undergraduate/postgraduate course where the engineering students of the first year should be able to pick up well. Each module comprises of theoretical lectures that lay the foundation, code demonstrations, and home-assignments for enhance the penetration of the core syllabus and would finally end with an end-of-course exam. In addition to formal lectures, the course would also include lab. demonstrations to further explain the concepts that are taught through the theories. This will help students to have enough exposure to pursue the subject further as professionals in the industry or as students of higher education in top universities in India or abroad.INTENDED AUDIENCE: University Students and Industrial PractitionersPREREQUISITES: UG Level: Mathematics and Basic Engineering MechanicsINDUSTRY SUPPORT: Automobile, Electrical and Electronics, Plastics and Chemicals, Food and Beverage, Educational/Research, etc.
Overview
Syllabus
Week 1: Introduction: Robot definition, applications, Industrial robot anatomy, robot classifications, Understanding its technical specifications, serial robots and parallel robots.Week 2: Electrical Actuators and Drives: DC Motors, Stepper motors, BLDC Motor, and Synchronous AC servo motors, Industrial Servo drives, hardware controllers and interfaces, Selection of motors. Understanding Manufacturer's Technical datasheet.Week 3: Robot sensors and its interfaces: Contact and non-contact Online sensors; position, velocity, acceleration, proximity, and force sensors. Characteristics of Sensors. Understanding Manufacturer's Technical datasheet.Week 4: Grubler-Kutzbach Criterion; DOF of a Robot Manipulator. Kinematic Transformations: Homogeneous Transformation, Denavit-Hartenberg (DH) Parameters; Forward Kinematics.Week 5: Inverse Kinematics. Differential Motion: link velocity and Acceleration analysis, Jacobian matrix and Singularity.Week 6: Industrial Robot Installation and Commissioning, Mastering a Robot, Tool Center Point Calibration: 4-Point method, External reference method, Orientation calibration: World frame method, Two-point method.Week 7: Calibration of Industrial Robot system: External fixed tool, Workpiece calibration: Direct and Indirect methods, Work Surface calibration: 3-Point method and Indirect method, Linear rail robot mounts and external rotary turn-table.Week 8: Statics: Link forces and moments; Recursive formulation, Gravity Compensation, Role of Jacobian: Force and Velocity ellipsoid.Week 9: Robot Dynamics: Euler-Lagrange formulation, Newton-Euler formulation.Week 10: Load data calibration: For payload and any supplementary loads. Identification experiments. Repeatability tests and ISO 9283:1998Week 11: Robot Control: Transfer function and state-space representation of a robotic joint, feedback control system, Proportional, Derivative and Integral (PID) control. Gain tuning.Week 12: Workspace and Operator Safety, Safety triggers and functions, Workspace monitoring and marking forbidden zones, External and Internal Safety devices, Norms and Regulations. Introduction to Industrial robot programming.
Taught by
Prof. Arun Dayal Udai
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5.0 rating, based on 1 Class Central review
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One of the best courses for Robotics that is available on NPTEL.
This course covers insights into Actuators and Sensors through implementation and covers Industrial Robot through Lab demonstrations.
