Introduction - brief history, definition, anatomy, types, classification, specification and need based applications; role and need of robots for the immediate problems of the society, future of mankind and automation-ethical issues; industrial scenario local and global, case studies on mobile robot research platform and industrial serial arm manipulator
Types of electric motors - DC, Servo, Stepper; specification, drives for motors - speed & direction control and circuitry, Selection criterion for actuators, direct drives, non-traditional actuators; Sensors for localization, navigation, obstacle avoidance and path planning in known and unknown environments – optical, inertial, thermal, chemical, biosensor, other common sensors; Case study on choice of sensors and actuators for maze solving robot and self driving cars
Robot kinematics - Geometric approach for 2R, 3R manipulators, homogenous transformation using D-H representation, kinematics of WMR, Lagrangian formulation for 2R robot dynamics; Mechanical design aspects of a 2R manipulator, WMR; End-effector - common types and design case study.
Mapping & Navigation – SLAM, Path planning for serial manipulators; types of control architectures - Cartesian control, Force control and hybrid position/force control, Behaviour based control, application of Neural network, fuzzy logic, optimization algorithms for navigation problems, programming methodologies of a robot
Application of Machine learning - AI, Expert systems; Tele-robotics and Virtual Reality, Micro & Nanorobots, Unmanned vehicles, Cognitive robotics, Evolutionary robotics, Humanoids
Reference Book:
1. Richard David Klafter, Thomas A. Chmielewski, Michael Negin, Robotic engineering: an integrated approach, Prentice Hall, 1989 2. Craig, J. J., Introduction to Robotics: Mechanics and Control, 2nd Edition, Addison-Wesley, 1989. 3. K.S. Fu, R.C. Gonzalez and C.S.G. Lee, Robotics: Control, Sensing, Vision and Intelligence, McGraw-Hill, 1987. 4. Wesley E Snyder R, Industrial Robots, Computer Interfacing and Control, Prentice Hall International Edition, 1988. 5. Robin Murphy, Introduction to AI Robotics, MIT Press, 2000 6. Ronald C. Arkin, Behavior-based Robotics, MIT Press, 1998 7. N. P. Padhy, Artificial Intelligence and Intelligent Systems, Oxford University Press, 2005 8. Stefano Nolfi, Dario Floreano, Evolutionary Robotics – The Biology, Intelligence and 93 Technology of Self–Organizing Machines (Intelligent Robotics and Autonomous Agents series), MIT Press, 2004.
Text Book:
1. Saeed. B. Niku, Introduction to Robotics, Analysis, system, Applications, Pearson educations, 2002 2. Roland Siegwart, Illah Reza Nourbakhsh, Introduction to Autonomous Mobile Robots, MIT Press, 2011
