Subject Code: ME3L014 Subject Name: Robotics L-T-P: 3-0-0 Credit:  3
Pre-requisite(s): None
Introduction, brief history, components, types and classification of robots, Homogeneous transformations, representation of joints and links using D-H parameters, direct and inverse kinematics of manipulators, examples of kinematics of some common manipulator configurations, Jacobian and dynamics of manipulators, trajectory planning; Purpose and types of sensors, Internal and external sensors, common sensors–displacement sensors, velocity sensors, force sensors and vision, necessity of actuators, different kinds of actuators – stepper motors, DC servo and brushless motors, programming of robots.
Text/Reference Books:
  1. Ghosal A., Robotics: Fundamental concepts and analysis, Oxford university press.
  2. Groover M.P., Industrial Robotics, Pearson Education.
  3. Mittal R.K., and Nagrath I.J., Robotics and Control, Tata Mc-Graw Hill.
  4. Fu K., Gonzalez R., and Lee C. S. G., Robotics: Control, sensing, vision and intelligence, McGraw Hill.
  5. Klafter R.D., Robotic Engineering, Prentice Hall.
  6. Craig J.J., Introduction to Robotics, Pearson Education.
  7. Spong M.W., and Vidyasagar M., Robot Dynamics & Control, John Wiley & Sons (ASIA) Pte Ltd.
  8. Saha S.K., Introduction to robotics, Tata Mc-Graw Hill.
  9. Jazar R.N., Theory of applied robotics, kinematics, dynamics and control, Springer.