Proceedings

Foreword
The workshop on Trends
Trends in Teaching of Robotics to UG/PG Students
Students held in the Department of Mechanical Engineering on December
22, 2012 (Saturday) has been conceived, mainly, to give directions to the faculty members of Robotics courses regarding the effective
teaching of the course offered to UG/PG students of Mechanical and Electrical Engineering Departments. The area is growing fast in the
country and there is a large demand for quality engineers. Hence, it is essential that the universities/colleges around the country find a
minimum base that MUST be achieved to make those students ready to work with the subject of robotics, be in industry or in higher
studies.

In order to fulfill the above objectives, it was planned that first we should hear about what different faculty members of robotics courses
are teaching in their courses. Hence, in the first half of the workshop the presentations from different faculty will be heard. Later, in the
next session, discussions on the books and aids/tools will take place. In the final session, it is expected that a well-groomed course
contents and the aids/tools necessary will be evolved that will help all of us (the teachers) to teach the course in a useful manner. In
particular,
i l it i is
i hoped
h d thath we should
h ld beb able
bl to answer the
h following
f ll i questionsi at the
h endd off the
h workshop:
kh

1. What are the topics, e.g., kinematics, dynamics, control etc. that should be covered in a typical UG or PG course on Robotics?
2. What kind of books to be used to teach a typical course on Robotics?
3. How software should be used to aid the teaching of Robotics?
4
4. What kind and how many experiments should be included in the course?
5. How much self-study learning aspect in the form of reading or making robots (say, for a competition) should be included?

Based on the valuable inputs from all participating faculty members we should be able to formulate a road map for effective teaching
learning of robotics in the country so that our industries and academia benefit immensely.

On behalf of IIT Delhi, I would like to thank all the participants to take the trouble of coming to IIT Delhi to participate in this workshop.
I am grateful for their valuable inputs in the form of presentations and participations in the discussions. I also thank the Curriculum
Development Cell of IIT Delhi to generously support todays programme. Last but not the least, I convey my sincere thanks to all
organizing people, mainly, the students of Mechatronics and Programme for Autonomous Robotics Laboratories for their meticulous
planning during last two months, and the staff of Mechanical Engineering Department and the hostels for their kind help.

S.K. Saha
December 22, 2012
TTR12 December22,2012

Course:RoboticsEngineering(UG)/Robotics(PG)
TrendsinTeachingRoboticsto SN
1
Lecture(3hrs. module)
Applications;Types(Mobile,Parallel);Serial:
Lab.(2hrs.module)
DemosofER9robot;Virtual
UG/PGStudents Cartesian,Cylindrical,etc. RoboticsLab.inADAMS
2 Sensorsandactuatorsused inRobots DHparameters ofa realrobot
3 P
Pose, DH P
DHParameters,
t H
HomogenousTrans.
T F
Forwardkinematicsin
d ki ti i MATLAB
[TeachingRobotics:6years] 4 ForwardandInverseKinematics Inversekinematics derivations
[Totalteachingexperience:17years] 5 Jacobian: Velocitytransformation Programming inMATLAB
6 Statics:UseofJacobian FindJacobian ,singularity
7 Dynamics:NewtonEulerRecursiveAlgorithm ClassProject 1Presentation
8 EulerLagrangeEquationsofmotion/DeNOC Control simulation(MATLAB)
Subir KumarSaha
9 Kinematicdesign:Singularity,
d l Dexterity,etc. DCmotorcontrolsetup
l
Dept.ofMech.Eng.,IITDelhi 10 Mechanicaldesign ofrobotlinks ProgrammingofER9robot
saha@mech.iitd.ac.in 11 Control:Definition, closedloopalgorithm VerifyusingRoboAnalyzer
12 Motionplanning:Polynomial,Spline,etc Dynamics of3Rrobot
Dec.22,2012 13 ParallelRobots:Inverse kinematics Project2presentation
14 ForwardKinematicsofparallelrobots Buffer class

Books/Software/OtherAids InNext10Years
TextBook UsemoreofRoboAnalyzer/MATLABsoftware
Saha,S.K.,IntroductiontoRobotics,TataMcGrawHill,
New Delhi, 2008
NewDelhi,2008 tounderstandtheconcepts.
OtherBooks Domoreassignments
Ghosal,A.,Robotics,Oxford,NewDelhi,2006
Usesoftware/buildhardwareforclassprojects
Craig,J.J.,IntroductiontoRobotics:Mechanicsand
Control,PearsonEducation,2009 Emphasizeonmathematicalformulationsand
Software designaspects.
RoboAnalyzer,MATLAB
R b A l MATLAB
OtherAids ConsidercreditsintheRobocon typeof
ClassProjects:1)DynamicsModelofRPmanipulator; activities
2)ModelingofanAGV Thankyouforyourattention!
Robocon competitions
Anyquestion/comment?

MechanicalEngineeringDepartment,IITDelhi 1
TTR12 December22,2012

Course1: IntroductiontoRobotics(UG/PG)
TrendsinTeachingRoboticsto SN
1
Lecturetopics
Introduction,Joints,links
Assignments

UG/PGStudents 2 Transformations,DHParameters
3 Forward/Inversekinematics
4 Jacobians,Singularity
[TeachingRobotics:11years] 5 TrajectoryPlanning
[Totalteachingexperience:11years] Sensors&Actuators
6 Labvisittoseeworking
components
7 Dynamicsofseriallinks
8 Linearcontrolissues
Ashish Dutta
9 N
Non li
linearcontrolissues
li
Dept.ofMech.Eng.,IITKanpur 10 Manipulatordesign
adutta@iitk.ac.in 11 Projectwork Groupsofstudentsmakea
smallproject
12 ProgrammingofRobotsusingVAT II Writeaprogramandtestitona
Dec.22,2012
realrobot

Course2:AdvancedRobotics(UG/PG)
SN Lecturetopics Assignments Books/Software/OtherAids
1 Introductionandreviewofbasics
2 SingularvalueDecomposition/pseudo useof Matlab in TextBook
inverses computationofSVD,Pinverses
Course1:IntroductiontoRobotics,byJohnCraig
3 Kinematic Redundancy in multi DOF System
KinematicRedundancyinmultiDOFSystem Assignments
Assignments Roboticsengineering,byRichardKlafter
b b h d l f
4 RedundancyResolutioninserialmanipulators
5 Dynamics ofserialmanipulators Course2:AdvancedRobotics:Redundancyandoptimization,
6 Control ofredundantmanipulators byYoshihikoNakamura.
7 Control offlexiblemanipulators Robotics:byAshitava Goshal
Robotics:T.Yoshikawa
8 Advanced applications:mobilerobots,
bipedsetc.
bipeds etc OtherBooks
Other Books
9 Optimization inroboticsystems Useofsoftwarein HandbookonRobotics,Springer
optimization inroboticsystems
10 Futurerobotics:robothumancooperation, OtherAids
swarmrobotics,etc. Projectwork,laboratoryexperiments,roboticsclub
11 Projectwork Agroupmakes asmallworking
modelofaroot

MechanicalEngineeringDepartment,IITDelhi 2
TTR12 December22,2012

InNext10Years
Focusonhandsonlearningaids
SSimulationsforkinamatics
ua o s o a a cs aanddynamics
d dy a cs
Experimentwithrealworksrobots.
Resourcesharing.

Thankyouforyourattention!
Anyquestion/comment?

TrendsinTeachingRoboticsto
UG/PGStudents
CSKumar
Dept.ofMech.Eng.,IITKharagpur
Course:Robotics
S.No. Lecture
1 DesignofRobots Mechanical,ElectronicsandControl
2 M d lli
Modelling
3 Kinematics
4 ForwardandInverseKinematics
5 DynamicsandControl
6 MotionandPathPanning
7 Applications

kumar@mech.iitkgp.ernet.in
Softwares VirtualLabs
Dec.22,2012

MechanicalEngineeringDepartment,IITDelhi 3
TTR12 December22,2012

ED5260 Mechanics of Robot Manipulators (UG/PG)

TrendsinTeachingRoboticsto
Spatial motion of robot links; descriptions of link orientation;
UG/PGStudents homogeneous transformations; elementary types of joints; DH
parameters; velocity and acceleration analysis of robot
manipulators;
i l i
introduction
d i to singularities
i l i i and d iisotropy.
[TeachingRobotics:3years]
[Totalteachingexperience:5.5years] The virtual work principle and its applications to robot statics;
constraint forces in robot mechanisms.

Inertia of the robot links; formulation of the equation of motion

SandipanBandyopadhyay
via the Lagrangian approach;
approach constrained Lagrangian
DepartmentofEngineeringDesign formulation for parallel robots; simulation exercises and case
IndianInstituteofTechnologyMadras studies.
sandipan@iitm.ac.in
Dec.22,2012

ED5260 Mechanics of Robot Manipulators (UG/PG) ED5314 Design, Analysis and Control of Robot Manipulators
Text books

John J. Craig, Introduction to Robotics: Mechanics and Control, Prentice

Hall (2003)
Ashitava Ghosal, Robotics: Fundamental Concepts and Analysis, Oxford
University Press (2006)
Subir Kumar Saha, Introduction to Robotics, McGraw Hill (2008)
References
Richard M. Murray, Zexiang Li, S. Shankar Sastry, A Mathematical
Introduction to Robotic Manipulation CRC Press, (1994)
Kinematic and dynamic objectives in design: mobility, workspace,
singularities,
i l i i iisotropy and dddynamic
i manipulability;
i l bili case studies
di iin
planar manipulators, e.g., 3-RRR and spatial parallel
manipulators, e.g., Gough-Stewart platforms.
Control and path-planning: trajectory-tracking control schemes
using dynamic models; trajectory-tracking control in the
presence of singularities; control schemes in the task-space
task space and the
joint space; case studies in planar and spatial parallel manipulators.

Lung-Wen Tsai, Robot Analysis: The Mechanics of Serial and Parallel

Manipulators, Wiley Interscience (1999)

MechanicalEngineeringDepartment,IITDelhi 4
TTR12 December22,2012

ED5314 Design, Analysis and Control of Robot Manipulators

Books/Software/Other Aids
Text books

Ashitava Ghosal, Robotics: Fundamental Concepts and Analysis, Oxford Software

University Press (2006)
Mathematica, MATLAB, C/C++
Richard M. Murray, Zexiang Li, S. Shankar Sastry, A Mathematical
Introduction to Robotic Manipulation CRC Press, (1994)
Other Aids
Class projects
Jean-Jacques E. Slotine, Weiping Li, Applied Nonlinear Control, Prentice
Hall (1991) Demonstration of robot manipulators developed
in the Robotics Laboratory, IIT Madras
Rafael Kelly, Victor Santibanez, Antonio Loria, Control of Robot
Manipulators in Joint Space, Springer-Verlag (2005) Mathematica
M h i demonstrations
d i ((virtual
i l models)
d l)
References

J. P. Merlet, Parallel Robots, Kluwer Academic Publishers (2006)

Suggested publications from journals and conference proceedings.

In the Next 10 Years

Use more of modelling tools, e.g.,
y
Mathematica, Matlab, RoboAnalyzer etc.
Introduce parametric analysis/design tools
(built in-house) in the class
Encourage design projects
Integrate some laboratory components in the
courses

Thank you for your attention!

Any questions/comments?

MechanicalEngineeringDepartment,IITDelhi 5
TTR12 December22,2012

TrendsinTeachingRoboticsto
UG/PGStudents

[TeachingRobotics:2years]
[Totalteachingexperience:18years]

P.M.Pathak
Dept.ofMech.&Indu.Eng.,IITRoorkee
pushpfme@iitr.ernet.in

Dec.22,2012

Books/Software/OtherAids InNext10Years
TextBook UsemoreofsoftwareMATLABand
Craig,J.J.,IntroductiontoRobotics:MechanicsandControl,Pearson
Education,2009 simulations
OtherBooks
Other Books
Niku,S.B.,IntroductiontoRobotics:Analysis,Systems,Applications,Prentice
tounderstandtheconcepts.
to understand the concepts
Hall,2001
Schilling,R.J.,FundamentalsofRoboticsAnalysisandControl,PrenticeHall. Domoreassignments
Ghosal,A.,Robotics,Oxford,NewDelhi,2006
Saha,S.K.,IntroductiontoRobotics,TataMcGrawHill,NewDelhi,2008.
Usesoftware/buildhardwareforclassprojects
Softwares
EmphasizeonMathematicalformulations,
MATLAB,SYMBOLSSHAKTI DesignandControlaspects
OtherAids ConsidercreditsintheRobocon typeof
Studentpresentationsonrecentdevelopmentsinroboticsarea.
Robocon competitions
activities
Thankyouforyourattention!
Anyquestion/comment?

MechanicalEngineeringDepartment,IITDelhi 6
TTR12 December22,2012

ME680Robotics:Mechanics&Control[3 0 0=3]
TrendsinTeachingRoboticsto MainTopics Courseoutline Lectures

UG/PGStudents IntroductiontoRobotics
Historicalperspective,applications,discussionon 1
outlineoftopics
KinematicsofRoboticlinkages
(openendedtype
[TeachingRobotics:19years] manipulators)
Descriptionofposition,orientationandframe 1
Mappings: 2
Translationandrotation
Propertiesoftheorientationmatrix
Anand Vaz Homogeneoustransformations 1
Orientation:FixedanglesandEulerangles 1
DepartmentofMechanicalEngineering
p g g DenavitHartenbergparameters
Linktransformations
1
1

Dr.B.R.Ambedkar NationalInstituteofTechnology ForwardKinematics

InverseKinematics
2
2
Jalandhar,Punjab144011,India Translationalandangularvelocities
Accelerations
2
1
Velocitypropagationfromlinktolink 1
Jacobians 1
Singularities 1
Dec.22,2012 Staticforces 1

DynamicsofRoboticlinkages(open
endedtypemanipulators)

Fromsystemofparticlestorigidbodies 2
Derivationoftheinertiatensor 2
itsproperties, Sensorsandactuators
transformationtodifferentframes Straingauge,resistivepotentiometers,Tactileand 2
forcesensors,tachometers,LVDT,Piezoelectric
NewtonEulerformulationofdynamics 2 , , p
accelerometer,Halleffectsensors,OpticalEncoders
LagrangeEulerformulation DCmotor,steppermotor,drives,Pneumaticand 2
Manipulatordynamics 2 Hydraulicactuators,servovalvesandsystems
Simulationofdynamics:MultibondgraphandMATLAB 2
ControlofManipulators
Waysofdecouplingdynamicsofmanipulators 1
Trajectoryplanningandgeneration 2
FeedbackcontrolofIIorderLinearsystems
Manipulatordesign Jointcontrol,Trajectorycontrol,Forcecontrol, 2
Impedancecontrol
Taskrequirements, 1
C fi
Configuration
ti Controllers 2
PIDcontrol

Quantitativemeasures 1 Integrationofroboticsystems 1
efficiency 44
wellconditionedworkspace
manipulability

Redundantandclosedchainstructures 1

MechanicalEngineeringDepartment,IITDelhi 7
TTR12 December22,2012

Books/Software/OtherAids InNext10Years
Text Book
John J. Craig, Introduction to Robotics: Mechanics and Control, AddisonWesley, 2005. Convert existing MATLAB based programs to SCILAB.
Anand Vaz, Lecture notes, Rigid body mechanics: A bond graph perspective
Other Books Prepare a moodle based site for courses and study
Tsuneo Yoshikawa, Foundations of Robotics, MIT Press, 1990. materials
Saeed B. Niku, Introduction to Robotics: Analysis, Systems, Applications, Pearson Education Inc., 2001
Spong M. W., and Vidyasagar M., Robot Dynamics and Control, John Wiley & Sons, 1989.
Continue applying principles of Robotics to Prosthesis
Murray R. M., et al, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994.
development
Waldron K. J., and Kinzel G. L., Kinematics, Dynamics and Design of Machinery, John Wiley & Sons, Application of bond graphs to Dynamics and Control of
2004.
Eronini UmezEronini, System Dynamics & Control, Brooks/ Cole Publishing Company, 1999.
Robotic systems, and Biomechanics
Amalendu Mukherjee, Ranjit Karmakar and Arun Kumar Samantaray, Bond Graph in Modeling, Increase BTech and MTech participation in research
Simulation and Fault Identification, I. K. International Publishing House Pvt. Ltd, 2006. projects
Software Promote student learning through ASME Student section
MATLAB activities
Other Aids
Develop a strong group for Mechatronics, Robotics, System
Power point presentations: (1) System Dynamics & Control; (2) Introduction to Robotics Dynamics and Control, with industrial participation
Assignments: 1) Kinematics; 2) Dynamics Model of RP manipulator; 3) Control simulation
Setup of computer control of hand prosthesis
Lab work Industrial Automation

Thankyou!

Questions?

anandvaz@ieee.org,or
@ g,
anandvaz@nitj.ac.in

MechanicalEngineeringDepartment,IITDelhi 8
TTR12 December22,2012

Course:Introduction toRobotics(UGandPG)
SN Lecture(3 hrsModule) Lab.(2hrs.module)

TrendsinTeachingRobotics 1 Pose, DHParameters, HomogenousTrans. Forwardkinematicsin MATLAB

andVISUALNASTRAN
to UG/PG students
toUG/PGstudents 2 ForwardandInverseKinematics Inversekinematics derivations
3 Jacobian: Velocitytransformation Programming inMATLABand
VISUALNASTRAN

4 Statics andQuasistatics FindJacobian ,singularity

5 Dynamics:NewtonEulerRecursiveAlgorithm
EVijayPrakash
RoboticsResearchCenter,IIITHyderabad
6 EulerLagrangeEquationsofmotion Control simulation(MATLAB)
eathakota.vijay@iiit.ac.in
7 Partition Control SIMULINK ModelandControlof
apendubot
Dec.22,2012 8 Modelling andControlofanInvertedPendulum Control SimulationinMATLAB
andVISUALNASTRAN

Books/Software/OtherAids InNext2Years
TextBook Developacoursewhichintegratesthetools
Craig,J.J.,IntroductiontoRobotics:Mechanics usedinRoboticstodesigncontrolalgorithms
andControl,PearsonEducation,2009 WehaveintroducedacourseAdvancesin
OtherBooks RoboticsandControlwhereweplantoteach
Ghosal,A.,Robotics,Oxford,NewDelhi,2006 modeling,simulationandcontrolofQuad
Murray,LiandSastry ,AMathematical rotor
Introduction to Robotic Manipulation CRC Press
IntroductiontoRoboticManipulation,CRCPress, Develophardwarerealizationofthecontrol
D l h d li i f h l
1994
lawsforQuadrotor
Software
MATLABandMSCVISUALNASTRAN

MechanicalEngineeringDepartment,IITDelhi 9
TTR12 December22,2012

TrendsinTeachingRoboticsto
UG/PGStudents
[TeachingRobotics:1year]
[Totalteachingexperience:1year]
Shubhendu Bhasin
Dept.ofElectricalEngg.,IITDelhi
sbhasin@ee.iitd.ac.in
Dec.22,2012
Course:RoboticsandAutomation(UG)/(PG)
S.No. Lecture(3hrs. module)
1 Introduction,History,MotivatingRobotVideos,CurrentResearchAreas,
2
RobotManipulator:Definition,Components,Types
Referenceframes,CoordinateSystems,Generalized Coordinates,DOF,
VectorsandPoints
3 Pose, CoordinateTransformations,RotationMatrices,Quaternions
4 Labellingthekinematicchain,DHparameters
5 ForwardandInverseKinematics
6 VelocityKinematics,Jacobian,Singularities
7 Statics
8 Dynamics: NewtonEuler,
Dynamics:Newton Euler,Lagrange
Lagrange Methods
9 Control:Position Control,TrajectoryTracking,ForceControl,Control
Techniques PDcontrol,ComputedTorque,FeedbackLinearization,Task
SpaceControl,NonlinearandAdaptive Control
10 Optional topics(timepermitting):PathPlanning,WheeledMobile
Robots,ParallelRobots
11 Termpaper

Books/Software/OtherAids InNext10Years
TextBook Classprojects,assignmentsbasedonrobotsin
Craig,J.J.,IntroductiontoRobotics:Mechanics thelab industrial,mobile,quadrotors.
andControl,PearsonEducation,2009
d l d i
Aseparatecourseonbuildingrobots
OtherBooks
mechanical,electrical,software.
M.W.Spong,S.HutchinsonandM.Vidyasagar,
RobotModelingandControl,JohnWiley&Sons, Useofvisualizationsoftware,like
Inc. RoboAnalyzer etc.
Saha,S.K.,IntroductiontoRobotics,TataMcGraw
S h S K I t d ti t R b ti T t M G
Hill,NewDelhi,2008
Software
MATLAB

MechanicalEngineeringDepartment,IITDelhi 10
TTR12 December22,2012

Course: Industrial Robotics(UG & PG)

SN Lecture (3 hrs. module)
TrendsinTeachingRoboticsto 1 Introduction, types, geometry, workspace, work volume
UG/PGStudents 2 Industrial applications of robot (fixed base + mobile)
3 Sensors and actuators used in Robots
4 Introduction to machine vision for industrial applications
[TeachingRobotics:2years]
[Totalteachingexperience:7years] 5 Pose, DH Parameters, Homogenous Trans.
6 Forward and Inverse Kinematics
7 Jacobian: Velocity transformation
Shital S.Chiddarwar 8 Statics: Use of Jacobian
Dept.ofMechanicalEngg. 9 Dynamics :Euler-Lagrange Equations of motion
Visvesvaraya NationalInstituteofTechnology,Nagpur 10 Kinematic design: Singularity, Dexterity, etc.
Email:shitalsc@mec.vnit.ac.in 11 Control: Definition, types, closed-loop algorithm
12 Trajectory planning: Joint angle, Cartesian using Polynomial, Spline, etc
22.12.2012 13 Use of Symbolic and Robot toolbox of MATLAB
14 Demonstration of 3dof fixed base robot and mobile manipulator

Books/Software/OtherAids InNext10Years
Use of MATLAB and Simulink for better understanding of
Text Book
Robotics and Control, R.K. Mittal and I.J. Nagrath, McGraw Hill, New control aspects
Delhi, 2011
Other Books Modelingg of robot workcell in ADAMS
Introduction to Robotics: Mechanics and Control, Craig, J.J., Pearson Study of holonomic and non-holonomic mobile
Education, 2009
Robotics: control, sensing, vision, and intelligence, King Sun Fu, Rafael manipulators
C. Gonzlez, C. S. George Lee, McGraw Hill, New Delhi, 2010
Software Laboratory work
MATLAB,ADAMS Hardware (structure + mechanical, electrical drives + sensors)
OtherAids Learning by demonstration
Case Study : A group of 2 students is allotted with a typical industrial
application of fixed base (single, multiple) industrial robot at the Customized grippers for industrial applications
beginning of the course. The case study includes 1. Study of given
application 2. Work cycle 3. selection of robot (either available or Multiple robot coordination and cooperation
conceptual) 4. Justification for selected robot 5. Determination of DH
parameters and workspace of robot 6. forward kinematics 7. sensors
to be used 8. control logic 9. feasibility study
Source:EuropeanRoboticsResearchNetwork comments

MechanicalEngineeringDepartment,IITDelhi 11
TTR12 December22,2012

Course:Robotics(forbothUGandPG)
TrendsinTeachingRoboticsto S.No Lecture(3hrs/week)
IntroductionandTypes(Mobile,Parallel,Serial)andclassificationofRobots;
UG/PGStudents 1
Workspace,etc.
2 RoboticSensorsandActuators
3 RepresentationofPose, HomogenousTransformation,DHparameters
[TeachingRobotics:3years]
4 ForwardandInverseKinematics(Examples,developmentofcomputerprograms)
[Totalteachingexperience:4years]
5 VelocityandStaticAnalysis:UseofJacobian(velocitytransformation)matrix
6 SingularityandDexterityanalysis
M.Santhakumar 7 Dynamics:NewtonEuler RecursiveAlgorithm
8 EulerLagrangeEquationsofmotion,Statespacerepresentationofequations
MechanicalEngineering
g g
9 DynamicSimulationusingMATLAB/ADAMS
l /
IndianInstituteofTechnologyIndore 10 TrajectoryandMotionPlanning,Jointspacetrajectory generation
11 RoboticControl:KinematicandDynamicControl
santhakumar@iiti.ac.in
12 NonlinearControltechniques
13 KinematicsofMobileandParallelRobots

Dec.22,2012

Books/Software/OtherAids InNext10Years
TextBook
Craig,J.J.,IntroductiontoRobotics:MechanicsandControl,PearsonEducation,New UsemoreofADAMS/MATLABsoftwaretounderstandthe
Delhi,2009
concepts.
OtherBooks
Saha,S.K.,IntroductiontoRobotics,TataMcGrawHill,NewDelhi,2008 Domoreassignments(onMATLAB/Modelling
Do more assignments (on MATLAB / Modelling package)
Ghosal,A.,Robotics,Oxford,NewDelhi,2006 Useofmechanismconstructionkittobuildhardwareforclass
Spong,M.W.,SethHutchinson,andVidyasagar,M.,RobotModeling andControl, projects
JohnWiley&SonsInc.,NewDelhi,2004.
Schilling,J.R.,FundamentalsofRobotics:AnalysisandControl,PrenticeHallIndia, Emphasizeonmathematicalformulationsanddesignaspects.
NewDelhi,1990. Considercreditsintherobotcompetitionsandsimilartypeof
Software
activities
ADAMS,MATLAB
ADAMS MATLAB
OtherAids Conductingfewspecialworkshops(handson)onrobotics
CourseProjects:
1)DevelopmentofDynamicandsimulationmodelofrealroboticmanipulators
2)Developmentofsimpleplanarroboticmanipulators(bothserialandparallel)
Thank you for your attention!
DARPAChallenge,Robocon competitions Any question/comment?

MechanicalEngineeringDepartment,IITDelhi 12
TTR12
TrendsinTeachingRobotics
to
UGStudents
[TeachingRobotics:3years]
[Totalteachingexperience:7years]
P.K.Rao
Dept.ofMech.Eng.,OPJIT Raigarh
Kameswara.rao@opjit.edu.in
Dec.22,2012
8 EulerLagrangeEquationsofmotion.
9 Kinematicdesign:Singularity, Dexterity,etc.
10 Mechanical design ofrobotlinks
Mechanicaldesign of robot links
11 RobotApplications:IndustrialApplications
likeMaterialhandling, Processing,Assembly
andInspection.
12 JustificationofRobots, RobotSafety.
13 Non IndustrialApplicationsofRobots like
Domestic,Medical,Militaryoperations,
Childrentoys&Humanoids.
14 RoboticsApplicationsforSustainable
Development.
MechanicalEngineeringDepartment,IITDelhi
1 IntroductiontoRobots &theirevolution.
6 Denavit HartenbergNotation,Manipulator D HNotation RoboticsLab,
Control simulation(MATLAB)
DCmotorcontrolsetup
RoboticsLab.
Programming of ER9 robot
ProgrammingofER9robot
ApplicationofKUKASIMPRO
Robot RoboticsLab.
SafetyprecautionsofER9&
KUKASIMPRORobot Robotics
Lab.
b Software
HumanoidProjectModel
RoboticsLab.
PracticalExposureofdifferent
robotsinIndustries.
December22,2012
Course:Robotics(UG)
SN Lecture(4hrs. module) Lab.(2hrs.module)
LawsofRobotics,Whatisandwhatisnota
DemosofER9robot;Robotics
Lab.
robot,ProgressiveAdvancementinRobots.
2 Design&ControlIssues,SensorsandVision, 6 AxisandHexcrawlerRobot
Programming Robots&thefutureprospects. RoboticsLab.
3 Coordinateframes,Mappingand Forwardkinematicsin Robotics
Transformations. Lab.
4 ForwardandInverseKinematics Inversekinematics derivations
RoboticsLab
5 ModellingofRobots, KinematicandDynamic Kinematics&Dynamics
modelling of robots
modellingofrobots Robotics Lab.
RoboticsLab.
TransformationMatrix, Jacobians. Programming inMATLAB
7 RoboticSensor&Vision,Imageprocessing& Robotsensor&vision,Image
Imageacquisition, Architectureofrobot processing RoboticsLab.
visionsystems.
Books/Software/OtherAids
TextBooks
Saha,S.K.,IntroductiontoRobotics,TataMcGrawHill,NewDelhi,
2008.,
R.K.Mittal&I.J.Nagarath.,RoboticsAndControl,TataMcGrawHill,
R K Mittal & I J Nagarath Robotics And Control Tata McGraw Hill
NewDelhi,2011.,
OtherBooks
Ghosal,A.,Robotics,Oxford,NewDelhi,2006
Craig,J.J.,IntroductiontoRobotics:MechanicsandControl,Pearson
Education,2009.
RichardD.Klafter,ThomasA.Chmielewski,MichelNegin.,Robotic
EngineeringAnIntegratedApproach.
Robo Analyzer,MATLAB, StampEditorv2.5.2.exe.
OtherAids
ClassProjects:1)DynamicsModelof6 AxisRobot;2)Modelingof
anAGV; 3)MajorProjectofHumanoid;4)HexCrawlerRobot.
Robocon &Roborollixcompetitions.
13
TTR12 December22,2012

InNext10Years
UsemoreofRobo Analyzer/MATLAB/ StampEditor
v2.5.2.exe. softwaretounderstandtheconcepts.
Domoreassignments&Projects(Modeling&
Fabrication).
Fabrication)
Usesoftware/buildhardwareforclassprojects.
Emphasizeonmathematicalformulationsanddesign
aspects.
ConsidercreditsintheRobocon &Roborollixtypeof
activities.
ReplacingAllHumanApplicationswithArtificially
Replacing All Human Applications with Artificially
IntelligentRobotsespeciallyathazardousworking
environments.

Thankyouforyourattention!
Anyquestion/comment?

Course:RoboticsEngineering
TrendsinTeachingRoboticsto S.No. Lecture

UG/PGStudents 1
2
RobotSystems
Sensors
3 Controllers
4 DegreesofFreedom
5 MechanicalComponentsinRobots
6 MechanicalConfigurationofRobots
7 Workspace
A.Chandrashekhar 8 ApplicationofRobotics
FacultyofScience&Technology,IFHE
University,Hyderabad
acshekhar@gmail.com

Dec.22,2012

MechanicalEngineeringDepartment,IITDelhi 14
TTR12 December22,2012

Course:Robotics(UG)
SN Lecture(3hrs. module)+ Details
TrendsinTeachingRoboticsto Tutorial1hr
Introduction
1 AutomationandRobotics.Roboticstrends, futureprospects.
UG/PGStudents 2 FundamentalsofRobot
Technology
Robot Anatomy Links, Joints and Joint Notation scheme,DOF, Required DOF
in a Manipulator,
Arm Configuration, Wrist Configuration; The Endeffector, Human arm
characteristics Design & Control issues,
characteristics, issues
Robot specification, Robot programming & work cell control.
[TeachingRobotics:Firsttime] 4 RobotMotionAnalysis Introductiontocoordinateframesmapping,Mapping
[Totalteachingexperience:6years] 5 KinematicsManipulators Directkinematicsmodelmechanicalstructure
6 Robotendeffectors Typesofendeffector,methodsofholding,Mechanicalgrippers,Mechanisms
forgrippers.
7 Differentiakinematics,linearandangularvelocityofaRigidBody,Jacobian,
DifferentialMotionandStatics
Jacobian Inverse,Jacobian singularities,StaticAnalysis.Jacobian,Examples
Amit KumarSingh 8 RobotControl Controlofmovementsofmechanicaljoints,

Dept.ofMech.Eng.,MNITJAIPUR 9 SensorsinRobotics KindsofsensorusedinRobotics,TactilesensorsForceTorquesensors.

asmnitj@gmail.com 10 RobotProgramming RobotProgrammingissues,optimizationpositiondefinitions

11 MachineVision IndustrialapplicationofvisioncontrolledRoboticsystems,Imageprocessing
andAnalysis,,

Dec.22,2012 12 Applications,Engineeringand
SocialIssues(SelfStudy).

Books/Software/OtherAids InNext10Years
TextBook
Saha,S.K.,IntroductiontoRobotics,TataMcGrawHill,NewDelhi,2008
Createawarenessandinterestamong
Mittal R.K.&Nagrath I.J.,RoboticsandControl,TMH,2003(Reprint2007orlater). studentsforthesubjectandtheiractive
ReferenceBooks: participationinthesame
(R1)Groover,M.P.,etal.,IndustrialRobotics,MGHISE,1986.
(R2)Fu,K.S.,etal.,Robotic:Control,Sensing,Vision&Intelligence,MGHISE,1987. DevelopaRoboticsLabatMNITJAIPUR.
(R3)RobertJ.,Schilling,FundamentalsofRobotics:AnalysisandControl,PrenticeHall,NJ,
2002.
Ghosal,A.,Robotics,Oxford,NewDelhi,2006
Craig,J.J.,IntroductiontoRobotics:MechanicsandControl,PearsonEducation,2009
S ft
Software
RoboAnalyzer,MATLAB
OtherAids
Eachstudenthastoworkoutthegivenhomeassignments&workonaprojectassigned.The
projectwillhaveseminar(s)andculminatewithawrittenreportandpresentationofwork
done. Thankyouforyourattention!
Competitions
Anyquestion/comment?

MechanicalEngineeringDepartment,IITDelhi 15
TTR12 December22,2012

Course:RoboticsEngineering(UG)/Robotics(PG)
TrendsinTeachingRoboticsto SN
1
Lecture(3hrs. module)
Introduction;Types(Mobile,Parallel,Serial:
Lab.(2hrs.module)
DemosofER9robot;Virtual
UG/PGStudents Cartesian,Cylindrical,etc.),History RoboticsLab.inADAMS
2 Sensorsandactuatorsused inRobots DHparameters ofa realrobot
3 P
Pose, DH P
DHParameters,
t H
HomogenousTrans.
T F
Forwardkinematicsin
d ki ti i MATLAB
[TeachingRobotics:10years] 4 ForwardandInverseKinematics Inversekinematics derivations
[Totalteachingexperience:13years] 5 Jacobian: Velocitytransformation Programming inMATLAB
6 Dynamics:NewtonEulerRecursiveAlgorithm ClassProject 1Presentation
7 EulerLagrangeEquationsofmotion/DeNOC Control simulation(MATLAB)
8 Kinematicdesign:Singularity, Dexterity,etc. DCmotorcontrolsetup
J.Srinivas
9 Mechanicaldesign
h ld ofrobotlinks
f b l k ProgrammingofER9robot
f b
Dept.ofMech.Eng.,NITRourkela 10 Control:Definition, closedloopalgorithm VerifyusingRoboAnalyzer
srinivasj@nitrkl.ac.in 11 Motionplanning:Polynomial,Spline,etc Dynamics of3Rrobot
12 ParallelRobots:Inverse kinematics Project2presentation
Dec.22,2012 13 ForwardKinematicsofparallelrobots Buffer class

Books/Software/OtherAids InNext10Years
TextBook UseofVisualsimulationsoftwaretounderstand
M.P.Groover etal.IndustrialRobotics,McGraw theconcepts.
Hill
ill Domoreassignments
OtherBooks Usehardwareforclassprojects
Ghosal,A.,Robotics,Oxford,NewDelhi,2006
Emphasizeonmathematicalformulationsand
Craig,J.J.,IntroductiontoRobotics:Mechanics
andControl,PearsonEducation,2009 designaspects.
OtherAids ConsidercreditsintheRobocon
C id dit i th R b t
typeofactivities
f ti iti
ClassProjects:1)DynamicsModelofRP Moreimportancetoparallelplanarmanipulators
manipulator;2)ModelingofanAGV
Robocon competitions Thankyouforyourattention!
Anyquestion/comment?

MechanicalEngineeringDepartment,IITDelhi 16
TTR12 December22,2012

TrendsinTeachingRoboticsto
UG/PGStudents
[TeachingRobotics:1year]
[Totalteachingexperience:16years]
Vishal SSharma
DeptofIndustrialandProductionEngineering
DrBRAmbedkar NationalInstituteofTechnologyJalandhar
Email:sharmavs@nitj.ac.in
Dec.22,2012
Sixthsemester(UG) IP302Robotics[3003]
Fundamentals of Robotics: Definition of a robot, types and
technology levels of robots,
classification
l ifi i off robots,
b parts off a robot,
b applications.
li i
Dynamic modeling of Rigid Manipulators: Kinematics modeling of
manipulator arms, Denavit
Hartenberg notations, inverse kinematics, kinematics modeling of
instantaneous motions, inverse
kinematics, NewtonEuler formulation for deriving the dynamics,
Lagrangian formulation of
manipulator dynamics, inverse dynamics, trajectory planning.
Dynamics of flexible structures: Conventional Sensors and
Actuators for Robots
Smart Sensors and Actuators for Robots
Control of Robots

Books InNext10Years
1. Asada and Slotine, Dynamics and control of robot DevelopingaLaboratoryintheareaof
manipulators , Wiley, New York.
2. JS Rao , Advanced theory of vibrations, Wiley Eastern I d t i lA t
IndustrialAutomation&CAM
ti & CAM
New Delhi. AcquireexperimentationKitsforRobotics
3. AK Sawhney,A course in Mechanical Measurements
and instrumentation, Dhanpat Rai Acquiresimulationsoftware's
publication
4. H. Janocha , Adaptronics
p and Smart Structures,,
Springer, New York
5. JJ Craige, Introduction to Robotics, Pearson Education,
New Delhi

MechanicalEngineeringDepartment,IITDelhi 17
TTR12 December22,2012

CourseME7020:RoboticsandRobotApplications(UG/PG)
TrendsinTeachingRoboticstoUG/PG SN Contents Assignments
Students 1 Applications,robotworkcells Seminars
Projects
2 Sensorsandactuatorsused inRobots
3 Pose, DHParameters, HomogenousTrans.
[TeachingRobotics:6year] 4 ForwardandInverseKinematics
[TeachingandResearchExperience:15years]
5 Jacobian: Velocitytransformation
TextBook
6 Statics:UseofJacobian RobertJSchilling,
TAsokan 7 Dynamics:NewtonEulerRecursiveAlgorithm Fundamentalsof
Dept.ofEngineeringDesign, 8 EulerLagrangeEquationsofmotion
Robotics:Analysisand
Control
IIT Madras
IITMadras 9 Kinematicdesign:Singularity, Dexterity,etc. OtherBooks
Craig,J.J.,
asok@iitm.ac.in 10 Control:Definition, closedloopalgorithm
Introductionto
11 Motionplanning:Polynomial,Spline,etc. Robotics:Mechanics
12 Visionsystem andControl,Pearson
Dec.22,2012 Education,2009

CourseED5315:IntroductiontoFieldandServiceRobotics(UG/PG)
SN Contents
1 Fieldandservicerobots:Classification,
applications,socialandethicalimplicationsof
robotics
2 SensingandPerception:sensors,
Sensing and Perception: sensors, odometry,
odometry,
Inertialmeasurement,localisation,sensor
fusion,Kalman filter,Markovlocalisation
3 Autonomousgroundrobots:Kinematics,
locomotion,perception,motionplanningand
control,localizationandmapping;Intelligent
unmannedvehicles.
4 Underwaterrobots:Kinematicsanddynamics,
modelingandsimulation,navigation,guidance
d l d l d
andcontrol
5 MedicalRobots:Teleoperatedsurgicalrobots,
RemoteCentre ofMotion,haptics fortele
operation,designandcontrol
6 Introductiontoaerialrobots
Assignments
Inthenext10Years
Seminars
Projects
TextBook:
Setuplaboratoriesforthefieldandservice
R Siegwart, I. R. Nourobakhsh, robotscourse(AUV,UGV,medicalrobot)
Introd ction to Mobile robotics,
Introduction robotics
MIT Press, Cambridge, 2004. Introduceadvancedcoursesinunderwater
Jacob Rosen, Blake Hannaford, roboticsandmedicalrobotics
Richard M. Satava (Eds), Surgical
Robotics: Systems, Applications
and Vision, Springer, 2011.
Developsoftware/buildhardwareforclass
projects
G. Antonelli: Underwater Robots,
2nd Edition, Springer-Verlag, Emphasizeondesignaspectsanddevelop
Berlin Heidelberg, 2006
applicationorientedrobotproducts.
Reference:
B Scicilliano, O Khatib (Eds),
Handbook of Robotics,
Springer, 2008
Thankyouforyourattention!

MechanicalEngineeringDepartment,IITDelhi 18
TTR12 December22,2012

Books
TrendsinTeachingRobotics
toUG/PGStudents Mathematical
orientation

Books/Aids 10Chapters
Analysis
Introduction;
Math.Rep.of 12Chapters 13Chapters
Robots;Kin.of Introduction;Ser. Introduction;Spatial
Ser.Rob.;Kin.
Subir KumarSaha of Par Rob ; Vel
ofPar.Rob.;Vel.
Rob.;Actuators; Des.&Trans.;Mani.
Sensors;Trans.; Kin.;Inv.Kin.;
Dept.ofMech.Eng.,IITDelhi Ana.&Statics; Kinematics; Jacobian:Vel &
Dynamics;Traj.; Statics; Statics;Mani.Dyn.;
saha@mech.iitd.ac.in Pos./For.Cont.; Dynamics;Rec. Traj.Gen.;Mech.
Mod.&Cont.of Rob.Dyn.;Cont.; Des.;Lin.Cont.;Non
Flex.Mani; Mot.Plan.;Comp. lin.Cont.;Force
Dec.22,2012 Mod.&Ana.of forRob. Cont.;Rob.Prog.;
WMR Offlineprog.;

Projects/Robocon
Descriptive
type Projects(TwoProjectsinaSemester)
Kinematics(MATLAB/RoboAnalyzer)
MoreBookks

Easyfor
E f
Dynamics(RoboAnalyzer)
practicing
engineers Control(MATLAB)
Robocon (Nat.LevelRoboticsCompetitions)
20Chapters Annualevent(March1st weekend,Pune)
10Chapters
p Fund of Rob ; Rob Tech
Fund.ofRob.;Rob.Tech.,
History,Status,Future;Rob. Prog.,Appln.;Cont.&Comp.; Tomake34robots(Manual+Automatic)
Kin.&Dyn.;Drives,Act.7 Mot.Ana.;Endeff.;Sen.;
Cont.;Rob.Endeff.;Sen.; M/cVis.;Prog.;Lang.;Cell. Design>Hardware>Softwareintegration>
Rob.Lang.&Prog.;
Mechatronics andComp.
Des.;Eco.;Mat.Trans.;Proc. Debugging(robustandreliable)
Op.;Assem.;Implem.;
Inter.;FlexibleAutomation Safety;Social;Rob.for
Tech.;Economic;Application Future;FutureAppln.

MechanicalEngineeringDepartment,IITDelhi 19
TTR12 December22,2012

Robocon 2012Field

Thankyouforyourattention!

Anyquestion/comment?

OneofIITDsRobots

RoboAnalyzer
TrendsinTeachingRoboticsto
UG/PGStudents

RoboAnalyzer:3DModelBased
RoboticsLearningSoftware

Rajeevlochana C.G.
Dept.ofMech.Eng.,IITDelhi
rajeevlochan.iitd@gmail.com

Dec.22,2012

MechanicalEngineeringDepartment,IITDelhi 20
TTR12 December22,2012

RoboAnalyzer ThankYou
SelectaRobot*
RoboAnalyzerTeam
Prof.S.K.Saha(1996 present)
Modify DH Parameters
ModifyDHParameters
S.Goel andS.Ramakrishnan (199697)
Patle (200001)
VisualizeDH FKin IKin IDyn FDyn Suril V.Shah(200711)
Rajat Jain(200910)
RajeevlochanaC.G.(2009 present)
Animation
Animation Visualize
Visualize Graphplots
Graph plots
and Multiple Graphplots and Amit Jain(201011)
Graphplot Solutions Animation
Jyoti Bahuguna (201112)

*CADmodelsofsomestandard
robotscanalsobeselected
End www.roboanalyzer.com

TrendsinTeachingRoboticsto VisittoVariousVirtualLabsWebsites
UG/PGStudents MainWebsite
www.vlab.co.in
ExperiencingMechanismsandRoboticsthroughVirtual VirtualLabsinMechanicalEngineering
LabsforEngineeringEducation
http://203.110.246.195
VirtualLabsinMechanismsandRobotics
CSKumar http://vlabs.iitkgp.ernet.in/MRLab
Dept.ofMech.Eng.,IITKharagpur
Dept of Mech Eng IIT Kharagpur VirtualLabsinKinematicsofMechanisms
http://vls1.iitkgp.ernet.in/
kumar@mech.iitkgp.ernet.in VirtualLabsinRoboticsandControlSystems
http://vlabs.iitkgp.ernet.in/r&c/index.html
Dec.22,2012

MechanicalEngineeringDepartment,IITDelhi 21
TTR12 December22,2012

SomeRobotsinVirtualLabs OnlineRobotControlofa5DOFRobot
SOMEEXPERIMENTSONROBOTS
FORWARD
FORWARDKINEMATICSOF5axisrobot
KINEMATICS OF 5 axis robot
(MOVEMASTERRM501)
http://iitkgp.vlab.co.in/index.php?sub=40&brch=129&
sim=1271&cnt=2970
FORWARDKINEMATICSOF6AxisRobot(PUMA560)
http://iitkgp.vlab.co.in/index.php?sub=40&brch=129&
sim=1270&cnt=2971
INVERSEKINEMATICSOF6AxisRobot(PUMA560)
http://iitkgp.vlab.co.in/index.php?sub=40&brch=129&
sim=1269&cnt=2972

OnlineRobotControlofa6DOFRobot

MechanicalEngineeringDepartment,IITDelhi 22
ListofParticipantsandAffiliation
S.No. Name Email ID Institute
1 Subir Kumar Saha saha@mech.iitd.ac.in IIT Delhi
2 T Asokan asok@iitm.ac.in IIT Madras
3 Sandipan Bandyopadhyay sandipan@iitm ac in
sandipan@iitm.ac.in IIT Madras
4 Vijay Prakash Eathakota eathakota@gmail.com IIIT Hyderabad
5 Ashish Dutta adutta@iitk.ac.in IIT Kanpur
6 P M Pathak pushppathak@gmail.com IIT Roorkee
7 C S Kumar kumar@mech iitkgp ernet in
kumar@mech.iitkgp.ernet.in IIT Kharagpur
8 Shubhendu Bhasin sbhasin@ee.iitd.ac.in IIT Delhi
9 Anand Vaz anandvaz@nitj.ac.in NIT Jalandhar
10 S Srivatsan manisha.mathews@oup.com Oxford, New Delhi
11 Sameer Gupta manisha mathews@oup com
manisha.mathews@oup.com Oxford New Delhi
Oxford,
12 Harsha Singh harsha_singh@mcgraw-hill.com Tata McGraw-Hill, New Delhi
13 Sushil Prakash sushil.prakash@nmeict.ac.in MHRD, New Delhi
14 Anand Singh sushil.prakash@nmeict.ac.in MHRD, New Delhi
15 Mr Kadam Shishirkumar
Mr. kadamsn5@gmail com
kadamsn5@gmail.com Pillai HOC College of Engg.
Engg
16 Amit Singh asbits@gmail.com MNIT
17 M.SANTHAKUMAR santhakumar@iiti.ac.in IIT Indore
18 Sachin Kansal sachinkansal87@gmail.com IIIT Allahabad
19 Nikesh Bajaj bajaj nikkey@gmail com
bajaj.nikkey@gmail.com Aligarh Muslim University
20 Somnath Chattopadhyaya somuismu@gmail.com ISM, Dhanbad
21 Raman ramankanythia@gmail.com LPU
ListofParticipantsandAffiliation
S.No. Name Email ID Institute

22 Nitin Chauhan nitin.16901@lpu.co.in LPU, Punjab

23 Shital S.
S Chiddarwar s chiddarwar@gmail com
s.chiddarwar@gmail.com Visvesvaraya NIT,
NIT Nagpur
24 Anmol Srivastava anmol.16380@lpu.co.in LPU, Punjab
25 Bikash Kant bikash.16636@lpu.co.in LPU, Punjab
26 Kuljeet
j Kaur kuljeetbrar17@hotmail.com
j @ LPU,, Punjab
j
27 Himanshu Chaudhary himanshumnitj@gmail.com MNIT Jaipur
28 Vinay Gupta vinayguptaiec@gmail.com IEC, Greater Noida
Thiagarajar College of
29 Saravana Perumaal
S P lS sspmech@tce.edu
h@t d E i
Engineering
i
30 P Kameswara Rao kameswara.rao@opjit.edu.in OPJIT, Raigarh
31 Vijyant vijayantonly@yahoo.com NSIT, New Delhi
32 J. Srinivas srin07@yahoo.co.in
@y NIT-ROOURKELA
33 A.Chandrashekhar acshekhar@gmail.com IFHE University, Hyderabad
34 G.Satish Babu satishbabug.jntuhm@gmail.com JNTUH COLLEGE OF ENGG
35 A.Harish harishvrec@gmail.com CMR College of Engg & Tech
36 Vishal S Sharma vishal_sim@yahoo.com NIT Jalandhar