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  • 11:49 AM, Wednesday, 20 Nov 2019


Course Undergraduate
Semester Electives
Subject Code AE483
Subject Title Introduction to Robotics

Syllabus

Overview of industrial manipulators and field robots – robot mechanisms: serial chains, regional and orientational mechanisms, parallel chains, reachable and dexterous workspace, mechanisms of wheeled and walking robots – spatial displacements, rotation matrices, Euler angles, homogenous transformation, DH parameters, forward and inverse problems for serial and parallel manipulators – task planning joint space and task-space planning – sensors: joint displacement sensors, force sensors, range finders, vision sensors – actuators, electric motors: stepper, PMDC and brushless DC motors, pneumatic and hydraulic actuators – speed reducers – servo control of manipulators: joint feedback control, effect of nonlinearities, inverse dynamic control, force feedback control – higher level control, path planning, configuration space, road map methods, graph search algorithms, potential field method.

Experiments: (a) manipulator kinematics (accuracy, inverse kinematics, task planning), (b) feedback control of simple manipulator, (c) motion control of wheeled mobile robots, and (d) path planning with obstacles.

Text Books

Same as Reference

References

1. Siciliano, B., Sciavicco, L., Villani, L., and Oriolo, G., Robotics: Modelling, Planning and Control, Springer (2010).

2. Ghosal, A., Robotics: Fundamental Concepts and Analysis, Oxford Univ. Press (2006).

3. Choset, H., Lynch, K. M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L. E., and Thrun, S., Principles of Robot Motion: Theory, Algorithms, and Implementations, MIT Press (2005).

4. Jazar, R. N., Theory of Applied Robotics: Kinematics, Dynamics, and Control, 2nd ed., Springer (2010).

5. Merlet, J.-P., Parallel Robots, 2nd ed., Springer (2006).

6. Siegwart, R., Nourbakhsh, I. R., and Scaramuzza, D., Introduction to Autonomous Mobile Robots, 2nd ed., MIT Press (2011).

7. Siciliano, B. and Khatib, O. (Eds.), Springer Handbook of Robotics, Springer (2008).