Course Title: Robotics and Automation
Type of Course: Optional, Theory
Offered to: EEE
Pre-requisite Course(s): None
History of robotics, elements of robotic systems, mathematics of manipulators, classification of robots. Kinematic modelling, forward and inverse dynamics. Robot path planning, navigation, and localization. Various types of sensor operations for robot sensing. Electrical and mechanical actuators. Robot vision. Linear and non-linear controls, adaptive controls. Microcontroller and embedded systems for robotics, robot programming. AI and machine learning for robot operations. Robot applications for industry 4.0: underwater robotics, unmanned aerial vehicle (UAV), humanoid robots.
Introduce to robotics and automation including robot classification, design and selection, analysis and applications in industry
Impart knowledge on the kinematics and dynamic of robot manipulators
Educate on various robot localization and path planning/navigation techniques
Explain the essentials of feedback control to implement sensor/motor control loops
Elucidate robot automation using sensors, actuators, image analysis, and AI
Help design, plan, and build interdependent autonomous machines using robotics parts
Enable to design intelligent practical robotics systems
Programming in C, MATLAB, and Python, and understanding of Linear Algebra concepts (vector and matrix operations).
| CO No. | CO Statement | Corresponding PO(s)* | Domains and Taxonomy level(s)** | Delivery Method(s) and Activity(-ies) | Assessment Tool(s) |
|---|---|---|---|---|---|
| 1 | understand the relationship between mechanical structures of industrial robots and their operational workspace characteristics. | PO(a), PO(b) | C2 | Lectures, Discussions, Problem-solving | Assignment/Short quiz, Final exam |
| 2 | solve kinematic and dynamic modelling problems of simple robot manipulators. | PO(c) | C4 | Lectures, Discussions, Problem-solving | Assignment/Short quiz, Final exam |
| 3 | explain localization and navigation tasks for mobile robots. | PO(b) | C2 | Lectures, Discussions, Problem-solving | Assignment/Short quiz, Final exam |
| 4 | apply knowledge of robot controllers and autonomous systems. | PO(b) | C3 | Lectures, Discussions, Problem-solving | Assignment/Short quiz, Final exam |
| 5 | design simple robots | PO(c) | C6 | Lectures, Discussions, Problem-solving | Assignment/Short quiz, Final exam |
* Cognitive Domain Taxonomy Levels: C1 – Knowledge, C2 – Comprehension, C3 – Application, C4 – Analysis, C5 – Synthesis, C6 – Evaluation, Affective Domain Taxonomy Levels: A1: Receive; A2: Respond; A3: Value (demonstrate); A4: Organize; A5: Characterize; Psychomotor Domain Taxonomy Levels: P1: Perception; P2: Set; P3: Guided Response; P4: Mechanism; P5: Complex Overt Response; P6: Adaptation; P7: Organization
Program Outcomes (PO): PO(a) Engineering Knowledge, PO(b) Problem Analysis, PO(c) Design/development Solution, PO(d) Investigation,
PO(e) Modern tool usage, PO(f) The Engineer and Society, PO(g) Environment and sustainability, PO(h) Ethics, PO(i) Individual work and team work,
PO(j). Communication, PO(k) Project management and finance, PO(l) Life-long Learning
* For details of program outcome (PO) statements, please see the departmental website or course curriculum
| K1 | K2 | K3 | K4 | K5 | K6 | K7 | K8 | P1 | P2 | P3 | P4 | P5 | P6 | P7 | A1 | A2 | A3 | A4 | A5 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Week | Lectures | Topic |
|---|---|---|
| 1 | 1-3 | Brief history of robotics, components of a robot, classification of robots. Kinematics systems; definition of mechanisms and manipulators, robot degrees of freedom. Robot joints, robot coordinates, robot reference frames, programming modes, robot workspace, robot languages, robot applications. |
| 2 | 4-6 | Kinematic modelling: translation and rotation representation, coordinate transformation, DH parameters, forward and inverse kinematics, solvability, solution methods, closed form solution, Jacobian, singularity, static forces in manipulators. |
| 3 | 7-9 | Dynamic Modelling: Forward and inverse dynamics, equations of motion using Euler-Lagrange formulation, Newton Euler. |
| 4 | 10-12 | Robot path planning and localization: position and orientation planning, Trajectory planning, interpolated motion, map generation, road map path planning, obstacle avoidance, robot localization methods, landmark based navigation, multi-agent systems. |
| 5 | 13-15 | Sensors: non-visual sensors and algorithms, contact and proximity, position, velocity, force, tactile etc. Internal sensors, infrared sensors, sonar, radar, laser range finders. Introduction to cameras, camera calibration, geometry of image formation. |
| 6 | 16-18 | Actuators: Electrical- DC motors, servo motors, stepper motors, motor control. Mechanical- hydraulic and pneumatic; transmission- gears, timing belts and bearings. Parameters for selection of actuators. |
| 7 | 19-21 | Image processing and analysis with robot vision systems. |
| 8 | 22-24 | Feedback control in robots, linear control schemes, PID control scheme, force and accelerator control, disturbance and dynamic effects, stability analysis. |
| 9 | 25-27 | Non-linear and adaptive control. |
| 10 | 28-30 | Embedded systems: microcontroller architecture and integration with sensors, actuators, components, robot operating system (ROS), introduction to industrial robot programming. |
| 11 | 31-33 | AI and machine learning (ML), unsupervised learning, clustering, supervised learning, support vector machine, deep learning, ML based robot operations. |
| 12 | 34-36 | Different aspects of mobile robotics, underwater robotics- types and classification, environmental factors, hydraulics, underwater manipulators, sensing/surveillance, communications, command/ control, applications. |
| 13 | 37-39 | Different aspects of assistive robotics. unmanned aerial vehicle (UAV)- types and characteristics, propulsion, internal combustion, on-board flight control, payloads, sensing/surveillance, communications, command/ control, ground control stations. |
| 14 | 40-42 | Humanoids: Wheeled and legged, legged locomotion and balance, arm movement, gaze, face and auditory orientation control, motion learning from demonstration, interaction, safety and robustness. Different aspects of social robotics and robot safety. |
Class participation will be judged by in-class evaluation; attendance will be recorded in every class.
Continuous assessment will be done in the form of quizzes, assignments, in-class evaluations.
Final Examination: A comprehensive term final examination will be held at the end of the Term following the guideline of academic Council.
Class Participation 10%
Continuous Assessment 20%
Final Examination 70%
Total 100%
Robotics, Vision & Control, Peter Corke, Springer Verlag (2011)
Introduction to Robotics, John J. Craig, Addison-Wesley Publishing, Inc., 1989
Introduction to Robotics, P. J. McKerrow, ISBN: 0201182408
Modern Robotics: Mechanics, Planning, and Control, Kevin Lynch and Frank Park, Cambridge University Press, 2017. ISBN: 9781107156302
Introduction to Robotics: Analysis, Systems, Applications, Saeed Niku, Prentice Hall, 2002
Introduction to Robotics, Saeed B. Niku, 2e, Wiley, 2011
Online resources or supplementary materials will be shared with the class on a need basis
N.B. Besides going through relevant topics of the textbook, it is strongly advised that the students follow the class Lectures and discussions regularly for a thorough understanding of the topics.