ME2028 ROBOTICS
UNIT I FUNDAMENTALS OF ROBOT
Robot – Definition – Robot Anatomy – Co-ordinate Systems, Work Envelope, types and
classification – Specifications – Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay
Load – Robot Parts and Their Functions – Need for Robots – Different Applications
UNIT II ROBOT DRIVE SYSTEMS AND END EFFECTORS 10
Pneumatic Drives – Hydraulic Drives – Mechanical Drives – Electrical Drives – D.C.
Servo Motors, Stepper Motor, A.C. Servo Motors – Salient Features, Applications and
Comparison of All these Drives End Effectors – Grippers – Mechanical Grippers, Pneumatic and Hydraulic Grippers, Magnetic Grippers, Vacuum Grippers; Two Fingered and Three Fingered Grippers; Internal Grippers and External Grippers; Selection and Design Considerations
UNIT III SENSORS AND MACHINE VISION
Requirements of a sensor, Principles and Applications of the following types of sensors
– Position of sensors (Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders,
Pneumatic Position Sensors), Range Sensors (Triangulation Principle, Structured,
Lighting Approach, Time of Flight Range Finders, Laser Range Meters), Proximity
Sensors (Inductive, Hall Effect, Capacitive, Ultrasonic and Optical Proximity Sensors),
Touch Sensors, (Binary Sensors, Analog Sensors), Wrist Sensors, Compliance Sensors,
Slip Sensors
Camera, Frame Grabber, Sensing and Digitizing Image Data – Signal Conversion,
Image Storage, Lighting Techniques. Image Processing and Analysis – Data Reduction,
Segmentation, Feature Extraction, Object Recognition, Other Algorithms. Applications –
Inspection, Identification, Visual Serving and Navigation.
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING
Forward Kinematics, Inverse Kinematics and Differences; Forward Kinematics and
Reverse Kinematics of Manipulators with Two, Three Degrees of Freedom (In 2
Dimensional), Four Degrees of Freedom (In 3 Dimensional) – Deviations and Problems
Teach Pendant Programming, Lead through programming, Robot programming
Languages – VAL Programming – Motion Commands, Sensor Commands, End effecter
commands, and Simple programs.
UNIT V IMPLEMENTATION AND ROBOT ECONOMICS
RGV, AGV; Implementation of Robots in Industries – Various Steps; Safety
Considerations for Robot Operations; Economic Analysis of Robots – Pay back Method,
EUAC Method, Rate of Return Method.
TEXT BOOKS:
1. M.P.Groover, “Industrial Robotics – Technology, Programming and Applications”, McGraw-Hill, 2001
2. Yoram Koren, “Robotics for Engineers”, McGraw-Hill Book Co., 1992.
REFERENCES:
1. Fu.K.S. Gonzalz.R.C., and Lee C.S.G., “Robotics Control, Sensing, Vision and Intelligence”, McGraw-Hill Book Co., 1987.
2. Janakiraman.P.A., “Robotics and Image Processing”, Tata McGraw-Hill, 1995.
UNIT I FUNDAMENTALS OF ROBOT
Robot – Definition – Robot Anatomy – Co-ordinate Systems, Work Envelope, types and
classification – Specifications – Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay
Load – Robot Parts and Their Functions – Need for Robots – Different Applications
UNIT II ROBOT DRIVE SYSTEMS AND END EFFECTORS 10
Pneumatic Drives – Hydraulic Drives – Mechanical Drives – Electrical Drives – D.C.
Servo Motors, Stepper Motor, A.C. Servo Motors – Salient Features, Applications and
Comparison of All these Drives End Effectors – Grippers – Mechanical Grippers, Pneumatic and Hydraulic Grippers, Magnetic Grippers, Vacuum Grippers; Two Fingered and Three Fingered Grippers; Internal Grippers and External Grippers; Selection and Design Considerations
UNIT III SENSORS AND MACHINE VISION
Requirements of a sensor, Principles and Applications of the following types of sensors
– Position of sensors (Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders,
Pneumatic Position Sensors), Range Sensors (Triangulation Principle, Structured,
Lighting Approach, Time of Flight Range Finders, Laser Range Meters), Proximity
Sensors (Inductive, Hall Effect, Capacitive, Ultrasonic and Optical Proximity Sensors),
Touch Sensors, (Binary Sensors, Analog Sensors), Wrist Sensors, Compliance Sensors,
Slip Sensors
Camera, Frame Grabber, Sensing and Digitizing Image Data – Signal Conversion,
Image Storage, Lighting Techniques. Image Processing and Analysis – Data Reduction,
Segmentation, Feature Extraction, Object Recognition, Other Algorithms. Applications –
Inspection, Identification, Visual Serving and Navigation.
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING
Forward Kinematics, Inverse Kinematics and Differences; Forward Kinematics and
Reverse Kinematics of Manipulators with Two, Three Degrees of Freedom (In 2
Dimensional), Four Degrees of Freedom (In 3 Dimensional) – Deviations and Problems
Teach Pendant Programming, Lead through programming, Robot programming
Languages – VAL Programming – Motion Commands, Sensor Commands, End effecter
commands, and Simple programs.
UNIT V IMPLEMENTATION AND ROBOT ECONOMICS
RGV, AGV; Implementation of Robots in Industries – Various Steps; Safety
Considerations for Robot Operations; Economic Analysis of Robots – Pay back Method,
EUAC Method, Rate of Return Method.
TEXT BOOKS:
1. M.P.Groover, “Industrial Robotics – Technology, Programming and Applications”, McGraw-Hill, 2001
2. Yoram Koren, “Robotics for Engineers”, McGraw-Hill Book Co., 1992.
REFERENCES:
1. Fu.K.S. Gonzalz.R.C., and Lee C.S.G., “Robotics Control, Sensing, Vision and Intelligence”, McGraw-Hill Book Co., 1987.
2. Janakiraman.P.A., “Robotics and Image Processing”, Tata McGraw-Hill, 1995.
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