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

  1. Introduction (6 hours)
    1. Definitions and Structure
    2. Classification and Application

  2. Components of a robot system (9 hours)
    1. Basic Components of a Robot System
    2. Manipulators and Effectors
    3. Sensors, Drives and Actuators
    4. Synthesis of Geometrical Configurations
    5. Fundamental Principles, Classification, Positions

  3. Control systems (10 hours)
    1. Path and Speed Control Systems
    2. Adaptive Control
    3. Servo Systems for Robot Control
    4. Homogeneous Coordinates and Coordinate Transformations

  4. Parts handling (5 hours)
    1. Parts Handling/Transfer
    2. Assembly Operations
    3. Parts Sorting
    4. Parts Inspection

  5. Modeling and system simulation (15 hours)
    1. Modeling Process and Design of Computer Simulation Model.
    2. Concept of System Simulation,
    3. Steps in Simulation Modeling,
    4. Random Number Generator,
    5. Random Variable Generator,
    6. Simulation Output Analysis,
    7. Simulation Model Verification and Validation,
    8. System Configuration Comparison Analysis,
    9. Variance Reduction Technique,
    10. Experiment Design on Simulation Study and Development of Simulation Scenario,
    11. Material Handling System Modeling and Service System Modeling in Simulation.

Practical

  1. Robot demonstration and field visit
  2. Design of IT based robot control system
  3. Design of robot configuration

References

  1. Howie Chosel, Kevin M. Lynch, "Principle of Robot Motion, Theory, Algorithms and Implementation"
  2. Robin R. Mirjy, "Introduction to A I Robotics" PHI, 1.
  3. Law, A.M., Kelton, W.D., 2000, “Simulation Modelling and Analysis”, McGraw Hill, Singapore.
  4. Harrel, C.R., et. al., 1995, 3rd edition, “System Improvement Using Simulation”, JMI Consulting Group and ProModel Corporation.
  5. 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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