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Syllabus RSD

The document outlines the course structure for a course on robotic system design. It includes details on course code, category, title, teaching scheme, prerequisites, objectives, outcomes, contents, exercises, resources, pedagogy, assessment, and syllabus.

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Devesh Kankariya
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16 views

Syllabus RSD

The document outlines the course structure for a course on robotic system design. It includes details on course code, category, title, teaching scheme, prerequisites, objectives, outcomes, contents, exercises, resources, pedagogy, assessment, and syllabus.

Uploaded by

Devesh Kankariya
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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COURSE STRUCTURE

Course Code MEC3161B

Course Category Professional Core


Course Title Robotic System Design
Teaching Scheme and Credits Lecture Tutorial Laboratory Credits
Weekly load hrs 3 0 2 3+0+1
Pre-requisites: Robot Kinematics, Sensor Technology, Robot Dynamics & Manipulator Design,
Control Systems, Robot Drive systems and Programming.
Course Objectives:

1. Knowledge (i) Understand the advanced concepts of robotic system


(ii) Impart the knowledge on system prototyping and validation

2. Skills (i) Ability to design and analyze robotic system for any specific application
(ii) Acquire knowledge on skills associated with robot prototyping.

3. Attitude (i) To develop attitude to build various robotic systems for societal needs

Course Outcomes:

After successful completion of the course, students will be able to:


1. Understand and apply knowledge of robot system design methodologies. (CL-I, CL-III)
2. Formulate and analyze kinematics of robotic manipulator. (CL-III, CL-IV)
3. Understand and apply statics and dynamics concept to model robotic manipulator. (CL-I, CL-III)
4. Apply robotic arm trajectory planning techniques as per application requirements. (CL-III)
5. Model and simulate robotic system for various industrial applications. ( CL-V , CL-VI)
Course Contents:
Introduction to robotic system design
Robot configurations, work volume, work cell and work cell control. System design methodologies,,
implementation strategies, Introduction to robotic system simulation, prototyping and functional
demonstration.

Manipulator Kinematics
Coordinate frames & mapping, fundamental transformations, transformation between coordinate
systems, representation of joints, D-H parameters, and representation of links, symbolic modeling, and
kinematics and Inverse kinematic modelling of different robotic configurations. .

Manipulator Statics and Dynamics


Linear and Angular velocities of link, Velocity propagation, Manipulator Jacobian,Singularities, Static
Analysis ,Inertia of link, Lagrangian formulation, inverse dynamics, inverse dynamics of 2R
manipulator, simulations of equation of motion, recursive formulations and algorithms for forward
dynamics..

Dr.Prasad D.Khandekar,Dean FoET


Robotic Arm Trajectory planning
Steps in Trajectory planning, Joint space and Cartesian space schemes, via points, Joint space vs
Cartesian space, Numericals

Advances in Robotic System


General framework for robotic Control system ,Advanced sensory systems, Manipulator position
control, Force control, PID control and tuning ,PLC controlled robots, Cobots, Robotic machine Vision
system ,Applications.

Implementation of Robotic System


Selection of commercial components, low cost and easy operation principle, logical sequence of
implementation, familiarization with the technology, survey on application, economic analysis,
planning and engineering the prototype. Experimental test and validation. Design consideration for
Safety. Safety sensors and safety monitoring.
_____________________________________________________________
Laboratory Exercises/Practical:
Note: Minimum 10 experiments are to be performed from Laboratory Exercises/Practical
1. Experiment on robot programming for particular application.
2. Development of symbolic model for kinematics of cylindrical/articulated type robotic arm
3. Development of symbolic model for Inverse kinematics of spherical/articulated type robotic
arm
4. Simulation of robotic kinematic model using simulation software.
5. Simulation of robotic inverse kinematic model using simulation software.
6. Experiment on Robot manipulator dynamics.
7. Development of trajectory of robotic arm for industrial application.
8. Simulation of PLC programming for of discrete event robotic system.
9. Simulation of PID control system for robotic manipulator control.
10. Simulation of machine vision system using suitable software.
11. Prototyping of Robotic system for Autonomous / manufacturing / rehabilitation / pipe
inspection application

Learning Resources:

Reference Books
1. Mikell p. Grover, Mithcel Weiss, Industrial Robotics: Technology, Programming and
Applications; Mc Graw Hill Publications, 1986
2. Ashitava Ghosal, “ Robotics : Fundamental Concepts and Analysis’, Oxford University press,
2006.
3. Tarek Sobh and Xingguo Xiong, ‘Prototyping of Robotic System: Applications of Design and
Implementation’, IGI Global, 2012 .
Supplementary Reading:
1. Vincent De Sapio, “Advanced Analytical Dynamics: Theory and Applications”, Cambridge
University Press, 2017.
2. Kenneth J Waldron and Gray L Kinzelz, ‘ Kinematics, Dynamics and Design of Machinary’, Wiley
student edition, 2004
3. R K Mittal & I J Nagrath, Robotics and Control, McGraw Hill Publication, 2015.

Dr.Prasad D.Khandekar,Dean FoET


Web Resources and links :
1. https://www.ti.com/lit/eb/ssiy006/ssiy006.pdf?ts=1639822161836&ref_url=https%253A%252F
%252Fwww.google.com%252F
2. https://www.cs.cmu.edu/~reids/papers/Robot_Architectures.pdf
4. https://cdn.intechopen.com/public/docs/Telerobotics_And_Systems_Engineering_For_Scientific
_Facilities.pdf
MOOCs:
1. https://nptel.ac.in/courses/112101098/
2. https://www.coursera.org/learn/arduino
3. https://www.coursera.org/learn/robotics-capstone#syllabus
Pedagogy:
i) Chalk and talk
ii) PPT
iii) Videos
iv) Experiments
Assessment Scheme:
Class Continuous Assessment (CCA): 30Marks

Assignments Mid Term Test Presentations


15 marks 15 marks

Laboratory Continuous Assessment (LCA): 30Marks


Practical Oral Based on Practical Problem Based Learning
15 marks 15 marks

Term End Examination: 40 Marks

Dr.Prasad D.Khandekar,Dean FoET


Syllabus :

Module Workload in Hrs


Contents
No. Theory Lab Assess
Introduction to robotic system design
1 8 5
Manipulator Kinematics
2 8 5

Manipulator Statics and Dynamics


3 8 5
Robotic Arm Trajectory planning
4 7 5

Advances in Robotic System


5 7 5

Implementation of Robotic System


6 7 5

Prepared By Checked By Approved By

Prof.Mangesh R. Saraf Prof.Dr.T.Appala Dr. Ganesh Kakandikar


Asst.Prof Coordinator Professor & HoS, SoME
Robotics & Automation
Program

Dr.Prasad D.Khandekar,Dean FoET

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