Evolution of robotics. Robot anatomy- Co-ordinate Systems, Work envelope, types and classification – Specifications – Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay Load – Basic robot motions – Point to point control, Continuous path control. Robot Parts and Their Functions – Need for Robots Different Applications. Robot drive systems: Pneumatic Drives – Hydraulic Drives – Mechanical Drives – Electrical Drives – D.C. Servo Motors, Stepper Motor, A.C. Servo Motors – Salient Features, Applications End Effectors – Grippers – Mechanical Grippers, Pneumatic and Hydraulic Grippers, Magnetic Grippers, Vacuum Grippers; Two Fingered and Three Fingered Grippers; Internal Grippers and External Grippers; Selection and Design Considerations
Coordinate frames. Mapping: Mapping between rotated frames-Mapping between translated frames- Mapping between rotated and translated frames-Description of objects in space-Transformation of vectors – Rotation- translation combined with rotation-translation of vectors-composite transformation-Inverting a homogenous transform-Fundamental rotational matrices.
Direct Kinematic Model – Mechanical structure and notations-Description of links and joints-Kinematic modeling of manipulator-Denavit-Hartenberg Notation-Kinematic Relationship between adjacent links-Manipulator Transformation Matrix.
Inverse Kinematic Model – Manipulator Workspace-Solvability-Solution techniques-Closed form solution.
Imaging components-image representation-picture coding-object recognition and categorization-visual inspection.Robot cell-design and control layouts.
Robot programming Languages –VAL Programming – Motion Commands, Sensor Commands, End effecter commands, and Simple programs.
Industrial Applications – Material Handling, Process, Assembly, Inspection.Non-Industrial Applications.