Subject Code: Robotics and its applications L,T,P,J,C 3,0,0,4,4

Preamble This course is first-level course on Robotics, designed for under graduate students
of Computer Science & Engineering. This course introduces the principles of
robotics and the basic robotics concepts.
This will serve as foundation for studying Advanced robotics, design,
programming etc.
Objectives The objective of this course is
 To introduce the basic concepts, parts of robots and types of robots.
 To make the student familiar with the various drive systems for robot,
sensors and their applications in robots and programming of robots.
 To discuss about the various applications of robots, justification and
implementation of robot.
Expected Outcome After successfully completing the course the student should be able to
 Explain the basic concepts of working of robot
 Analyze the function of sensors in the robot
 Write program to use a robot for a typical application
 Use Robots in different applications
Module Topics L Hrs SLO
1 Introduction 3 2
Introduction -- brief history, types, classification and usage,
Science and Technology of robots, Artificial intelligence in
Robotics, Some useful websites, textbooks and research
journals.
2 Elements of robots -- joints, links, actuators, and sensors 7 1,2,6
Representation of joints, link representation using D-H
parameters, Examples of D-H parameters and link transforms,
different kinds of actuators – stepper, DC servo and brushless
motors, model of a DC servo motor, Types of transmissions,
Purpose of sensors, internal and external sensors, common
sensors – encoders, tachometers, strain gauge based force-
torque sensors, proximity and distance measuring sensors, and
vision.
3 End Effectors 5 1,2,5
Classification of End effectors – Tools as end effectors. Drive
system for grippers-Mechanical-adhesive-vacuum-magnetic-
grippers. Hooks and scoops. Gripper force analysis and gripper
design. Active and passive grippers.
4 Planning and Navigation 6 1,2,7,8
Introduction-Path planning overview- Road map path
planning- Cell decomposition path planning-Potential field
path planning-Obstacle avoidance - Case studies
5 Vision System
Robotic vision systems, image representation, object 6 1,2 ,17
recognition and categorization, depth measurement, image data
compression, visual inspection, software considerations.
6 Robot Programming 7 2,7,8
Introduction to Robot languages, VAL, RAPID language -
basic commands-Motion Instructions-Pick and place operation
using Industrial robot-manual mode, automatic mode,
subroutine command based programming. Move master
command language-Introduction, syntax, simple problems.
7 Field and Service robots
Ariel robots- Collision avoidance-Robots for agriculture,
mining, exploration, underwater, civilian and military
2,6,7,9,
applications, nuclear applications, Space applications. 9
10,17,18
Industrial Robots
Artificial intelligence in robotics, Application of Robots in
material handling and manufacturing - continuous arc welding,
Spot welding, Spray painting, assembly operation, cleaning,etc
8 Recent Trends 2 2

Project: (Only for courses with J component) SLO: 2, 6, 17, 18

# Generally a team project
# Concepts studied in (Robotics and its applications) should have been used
# Down to earth application and innovative idea should have been attempted
# Report in Digital format with all drawings using software package to be submitted.
# Assessment on a continuous basis with a min of 3 reviews.

List of Projects: A project requires in-depth investigation, analysis, alternate creative solutions; leading
to synthesis and realization of products or systems (examples).
1. Gesture controlled robot using Micro sensors
2. Reconfigurable robot for material handling applications
3. SCARA robot for pick and place application
4. Automatic Sorting robotic system using machine vision
5. Low cost Agri-Rover using Solar power
6. Automatic irrigation system using Humanoid
7. A Novel design of Egg picking Robot
8. A robot cell design for an Automatic greasing system
9. Design of underwater robot for surveillance purpose
10. Design of a mobile robot using dynamic path planning algorithm

Mode of Evaluation: Continuous Assessment includes CAT I/II, Assignment/Case Study, Projects,
Final Assessment Test (FAT) .
Recommended by the Board of Studies on:
Date of Approval by the Academic Council:
Prepared By: Dr. Arockia Selvakumar A
Verified By:
Text Books

1. Richaerd D Klafter, Thomas Achmielewski and Mickael Negin, “Robotic Engineering –

An integrated Approach” Prentice HallIndia, New Delhi, 2001.
2. Saeed B.Nikku “Introduction to Robotics, Analysis, Control, Applications”, Wiley-India
2nd Edition, 2011

Reference Books
1. Industrial Robotic Technology - Programming and Application by M.P.Groover et. al.,
McGrawhill, 2008.
2. Robotics Technology and Flexible Automation by S.R.Deb, TMH, 2009.
3. ABB Rapid Reference manual