PRINCIPLES OF ROBOTICS AND MODELING
Course objective
After the completion of this course, students will be to describe the basic components and fundamental principles of a robot system.
Course outline
- Introduction (6 hours)
- Definitions and Structure
- Classification and Application
- Components of a robot system (9 hours)
- Basic Components of a Robot System
- Manipulators and Effectors
- Sensors, Drives and Actuators
- Synthesis of Geometrical Configurations
- Fundamental Principles, Classification, Positions
- Control systems (10 hours)
- Path and Speed Control Systems
- Adaptive Control
- Servo Systems for Robot Control
- Homogeneous Coordinates and Coordinate Transformations
- Parts handling (5 hours)
- Parts Handling/Transfer
- Assembly Operations
- Parts Sorting
- Parts Inspection
- Modeling and system simulation (15 hours)
- Modeling Process and Design of Computer Simulation Model.
- Concept of System Simulation,
- Steps in Simulation Modeling,
- Random Number Generator,
- Random Variable Generator,
- Simulation Output Analysis,
- Simulation Model Verification and Validation,
- System Configuration Comparison Analysis,
- Variance Reduction Technique,
- Experiment Design on Simulation Study and Development of Simulation Scenario,
- Material Handling System Modeling and Service System Modeling in Simulation.
Practical
- Robot demonstration and field visit
- Design of IT based robot control system
- Design of robot configuration
References
- Howie Chosel, Kevin M. Lynch, "Principle of Robot Motion, Theory, Algorithms and Implementation"
- Robin R. Mirjy, "Introduction to A I Robotics" PHI, 1.
- Law, A.M., Kelton, W.D., 2000, “Simulation Modelling and Analysis”, McGraw Hill, Singapore.
- Harrel, C.R., et. al., 1995, 3rd edition, “System Improvement Using Simulation”, JMI Consulting Group and ProModel Corporation.
- Harrel, C.R. & T. Kerim, 1995, “Simulation Made Easy, A Manager’s Guide”, IIE Press.
Evaluation Scheme
The Questions will cover all the chapters in the syllabus. The evaluation scheme will be as indicated in the table below:
Unit |
Chapters |
Hour |
Mark Distribution* |
1 |
Introduction |
6 |
8 |
2 |
Components of a robot system |
9 |
16 |
3 |
Control systems |
10 |
20 |
4 |
Parts handling |
5 |
10 |
5 |
Modeling and system simulation |
15 |
24 |
Total |
45 |
80 |
*There could be minor deviation in mark distribution.
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