BRACTS

Vishwakarma Institute of Technology, Pune 411 037

Department of Mechanical Engineering

ME42110 :: ROBOTICS
Credits: 03

Teaching Scheme: - Theory 3 Hrs/Week

Prerequisites:
Objectives:
To study basics of robot kinematics, dynamics, control, design and applications.

Unit I
Introduction to Robotics

(8 Hrs)

Automation and Robotics, Robots-Anatomy, Structure and classification, Robot

performance Resolution, Accuracy and Repeatability, Homogeneous transform, D-H
parameters, Euler angles.
Unit II
Robot Kinematics and Dynamics

(8 Hrs)

Direct kinematics of a manipulator, workspace, Inverse kinematics, Geometric and

Algebraic approaches to inverse kinematics, Lagrange Euler formulation of dynamic
equations of a manipulator.
Unit III
Trajectory Planning and Manipulator Control

(8 Hrs)

Introduction to Trajectory Planning, Path description / generation, joint space and

Cartesian space schemes.
Manipulator Control Linear control of manipulators, 2nd order control systems, control
law partitioning, modeling and control of a single joint, introduction to force control.
Unit IV
End effectors, sensors and vision systems

(8 Hrs)

End Effectors Types, mechanical/ vacuum / magnetic / adhesive grippers, tools as end
effectors, Gripper selection and design.
Need of sensors in a robotic system, Functional classification, types of sensors based on
working principle, desirable features, sensing devices used in robot workcells , sensor
characteristics and selection, Remote Center Compliance (RCC) device.
Need of vision in a robotic system.
Unit V

(8 Hrs)
131

Structure and Syllabus of B.E. (Mech), Pattern E11, Issue 3, Rev 1, dated 02/04/2011

BRACTS

Vishwakarma Institute of Technology, Pune 411 037

Department of Mechanical Engineering

Robotic System design and applications
Correlation between the robot design and the task to be performed, Manipulator
Mechanism design, kinematic configuration, redundant and closed chain structures,
Actuation schemes, position and force sensing.
Robot applications in material handling, machine loading / unloading, assembly,
inspection and processing.
Robot Operation: Hydraulic, pneumatic and electrical actuators, characteristics and
comparison.
Unit VI
Self Study
Robot
programming,
lead
through
programming,
motion
interpolation,
branching,
Robot
languages,
structure,
WAIT,
DELAY,
SIGNAL
commands, motion, end effector and sensor commands, subroutines.
Text Books
1. Introduction to Robotics Mechanics and Control, John J. Craig, Pearson
Education Inc.
2. Industrial Robotics - Technology, Programming and Applications Groover M. P.,
Weiss M., Nagel R. N., Odrey N. G., McGraw Hill.
Reference Books
1. Introduction to Robotics Analysis, Systems and Applications, Saeed Niku,
Prentice Hall of India 2003.
2. Robotics and Control, Mittal R. K. and Nagrath I. J., Tata McGraw Hill
Publishing Co. 2003.
3. Robotics - Control , Sensing, Vision and Intelligence, Fu K. S., Gonzalez R. C.,
Lee C. S. G., McGraw Hill

132
Structure and Syllabus of B.E. (Mech), Pattern E11, Issue 3, Rev 1, dated 02/04/2011