Syllabus
Overview of robotics – manipulators and field robots; robot mechanisms - serial chains, regional and orientational mechanisms, parallel chains, reachable and dexterous work space, mechanisms of wheeled and walking robots; spatial displacements, rotation matrices, Euler angles, homogenous transformation, D-H parameters, forward and inverse problems for serial and parallel manipulators; task planning – joint space and task space planning; sensors – joint displacement sensors, force sen- sors, range finders, vision sensors; actuators - electric motors - stepper, PMDC and brushless DC motors, pneumatic and hydraulic actuators; speed reducers; Servo control of manipulators - joint feedback control, effect of nonlinearities, inverse dynamic control, force feedback control; higher level control – path planning, configuration space, road map methods, graph search algorithms, potential field method.
Text Books
Same as Reference
References
1. Siciliano, B., Sciavicco, L., Villani, L., and Oriolo, G., Robotics: Modelling, Planning and Control, Springer (2009).
2. Ghosal, A., Robotics: Fundamental Concepts and Analysis, Oxford Univ. Press (2006).
3. Choset, H., Lynch, K. M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L. E., and Thrun, S., Principles of Robot Motion: Theory, Algorithms, and Implementations, MIT Press, Prentice Hall of India (2005).