Course Contents

Module 1

Introduction to Robotics (3 Hours)

• Types and components of a robot, Classification of robots, closed-loop and openloop control systems.
• Kinematics systems; Definition of mechanisms and manipulators, Social issues and safety

Module 2

Understanding Block chain with Crypto currency (9 Hours)
Robot Kinematics and Dynamics (7 Hours)

• Kinematic Modelling: Translation and Rotation Representation, Coordinate transformation, DH parameters, Jacobian, Singularity, and Statics
• Dynamic Modelling: Equations of motion: Euler-Lagrange formulation

Module 3

Sensors and Vision System (10 Hours)

• Sensor: Contact and Proximity, Position, Velocity, Force, Tactile etc.
• Introduction to Cameras, Camera calibration, Geometry of Image formation, Euclidean/Similarity/Affine/Projective transformations
• Vision applications in robotics.

Module 4

Robot Control (12 Hours)

• Basics of control: Transfer functions, Control laws: P, PD, PID
• Non-linear and advanced controls

Module 5

Robot Actuation Systems (3 Hours)

• Actuators: Electric, Hydraulic and Pneumatic;
• Transmission: Gears, Timing Belts and Bearings, Parameters for selection of actuators.

Module 6

Control Hardware and Interfacing (10 Hours)

• Embedded systems: Architecture and integration with sensors, actuators, components
• Programming for Robot Applications.

List of Practicals

1. Study components of a real robot and its DH parameters.
2. Forward kinematics and validate using a software (Robo Analyser or any other free software tool).
3. Inverse kinematics of the real robot and validation using any software.
4. Use of open source computer vision programming tool openCV.
5. Image Processing using openCV.
6. Image Processing for color/shape detection.
7. Positioning and orientation of robot arm.
8. Control experiment using available hardware or software.
9. Integration of assorted sensors (IR, Potentiometer, strain gages etc.), micro controllers and ROS (Robot Operating System) in a robotic system. 10. Project work