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Course Detail

Course Name Robotics
Course Code 19CCE341
Program B. Tech. in Computer and Communication Engineering
Year Taught 2019

Syllabus

Unit 1

Representing Position and Orientation-Orientation and pose in 2D and3D – Normalization-exponential mapping –twists -Dual Quaternions-Configuration Space – Time and Motion -Time-Varying Pose -Accelerating Bodies and Reference Frames -Creating Time-Varying Pose –Applications.

Unit 2

Mobile Robot Vehicles -Wheeled Mobile Robots -Flying Robots -Navigation-Reactive Navigation -Map-Based Planning – Localization -Dead Reckoning -Localizing with a Map – Creating a Map – Localization and Mapping – Rao-Blackwellized SLAM – Pose Graph SLAM – Sequential Monte-Carlo Localization – Applications.

Unit 3

Arm -Type Robots-Forward Kinematics -Inverse Kinematics –Trajectories – Manipulator Velocity -Manipulator Jacobian -Jacobian Condition and Manipulability -Resolved-Rate Motion Control -Under and Over-Actuated Manipulators -Force Relationships -Inverse Kinematics -Computing the Manipulator Jacobian Using Twists – Dynamics and Control -Independent Joint Control -Rigid-Body Equations of Motion -Forward Dynamics –RigidBody Dynamics Compensation.

Textbook

  • Peter Corke, Robotics, “Vision and Control: Fundamental Algorithms in MATLAB”, 2nd Ed., Springer, 2017
  • Kevin M. Lynch and Frank C. Park, “Modern Robotics: Mechanics, Planning, and Control”, Cambridge University Press, 2017.

Reference

  • S K Saha, Introduction To Robotics, 2nd Ed., McGraw-Hill, 2014
  • R. K. Mittal and I. J. Nagrath, Robotics and control, McGraw-Hill, 2003.

Evaluation Pattern

Assessment Internal External
Periodical 1 (P1) 15
Periodical 2 (P2) 15
*Continuous Assessment (CA) 20
End Semester 50
*CA – Can be Quizzes, Assignment, Projects, and Reports.

Objectives and Outcomes

Objectives

  • To develop basic understanding of mathematical concepts behind robot dynamics
  • To provide the basic understanding of mobile robot navigation techniques
  • To develop a basic understanding of SLAM
  • To understand the dynamics and control of arm-type robots

Course Outcomes

  • CO1: Able to understand different types of robot navigation techniques
  • CO2: Able to understand different types of robot localization techniques
  • CO3: Able to compute the forward and inverse kinematics of a robotic arm
  • CO4: Able to analyze the dynamics of an arm-type robot

CO – PO Mapping

PO/PSO/CO PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12 PSO1 PSO2
CO1 3 2
CO2 3 3
CO3 3 3 3 2 2
CO4 3 3 3 2 2

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