Course

Syllabus

Robots and Embedded Systems-Sensors, Microcontrollers and Actuators in Robots – Control – On-Off Control, PID Control, Velocity Control and Position Control, Recent Trends in Robotics-Milli/Micro/Nano Robot- Human-robot interaction. Industrial Robots – Evolution of robotics, Robot anatomy, Manipulation and Control. Direct Kinematic Model – Denavit-Hartenberg Notation, Kinematic Relationship between adjacent links, Manipulator Transformation Matrix; Inverse Kinematic Model Manipulator Workspace, Solvability, Solution techniques, Closed form solution. Introduction to Robot dynamics & Control. Mobile Robots, Concepts of Localization, and path planning. Autonomous robots- Swarm and Collaborative robots. Robot Operating System: architecture, sensors, actuators and platforms supported.

Text Books / References

1. Thomas Bräunl, “Embedded Robotics: Mobile Robot Design and Applications with Embedded Systems”, Third Edition, Springer-Verlag Berlin Heidelberg, 2008. 
2. K.Mittal and I.J.Nagrath, “Robotics and Control”, Tata McGraw-Hill Publishing Company Ltd., New Delhi, 2003. 
3. John J. Craig, “Introduction to Robotics: Mechanics and Control”, Fourth Edition, Pearson, 2018. 
4. Anis Koubaa, “Robot Operating System (ROS) The Complete Reference”, First Volume, Springer, 2016. 
5. S. Fu, R.C. Gonzalez and C.S.G. Lee, “Robotics: Control, Sensing, Vision, and Intelligence”, McGraw-Hill, New York, 1987.

Pre-requisite: Nil

Course Objectives:

• To introduce the fundamentals of robotics, including the role of embedded systems, sensors, actuators, and control techniques.
• To develop an understanding of industrial robot, kinematics, dynamics, and control, focusing on direct and inverse kinematic models, workspace analysis, and manipulator transformation techniques.
• To provide knowledge on mobile and autonomous robots, including localization, path planning, swarm robotics, collaborative robots.

Course Outcomes:

CO-PO Mapping: