Course

Overview of Robot Kinematics: DH Parameters, Forward and Inverse Kinematics, Jacobian, Singularity. Understanding the Specification sheet of a robotic manipulator.

Types of reference frames: Base, Tooltip, Camera, Workpiece; Calibration of robot

Motion Planning of Robotic Manipulator: Joint and Cartesian level.

Standard motion of the robot: Joint Motion, P2P Motion, Linear Motion, Circular Motion, Spline Motion, etc., Logic and Looping Statements.

Robot Programming in a Simulated Environment (Proprietary or ROS + Gazebo + MoveIT) and on a physical robotic manipulator.

Suggested Lab Sessions:

·         Identification of DH parameters of a given robotic manipulator

·         Calibration of robot and setting tooltip coordinate frame

·         Joint and Cartesian Jogging

·         Teaching of Robot motion as Robot Program

·         Simulation of Robot Program using Proprietary Software or ROS + Gazebo + MovIt (using URDF of robots)

·         Execution of Robot Program on a physical robot

Course Outcomes:

CO1: Understand the specifications of a serial robot manipulator

CO2: Implement robot program to teach via points and elementary motions

CO3: Develop 3D model of robot in a simulator environment for motion planning

CO4: Execute robot program on a physical robot

Textbooks / References:

1.       S. K. Saha, “Introduction to Robotics”, 3rd Edition, McGraw Hill Education (India) Pvt. Ltd., 2024.

2.       A. Ghosal, “Robotics: fundamental concepts and analysis”, 2nd Edition, Oxford University Press, 2023.

3.      Joseph, Lentin, and Jonathan Cacace, “Mastering ROS for Robotics Programming: Design, build, and simulate complex robots using the Robot Operating System”, Packt Publishing Ltd, 2018.

4.       Jason M. O’Kane, “A Gentle Introduction to ROS” ISBN 978-14-92143-23-9.