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Course Detail

Course Name Robotics for CPS
Course Code 25AIC201
Program B. Tech. Artificial Intelligence (AI) and Data Science (Cyber Physical Systems and Security) – AID (CPS&S)
Semester 3
Credits 3
Campus Coimbatore

Syllabus

Unit 1 Overview of Robotics

Definition and History of Robots, Applications of robots, Current trend in robotics, Basic mathematics for robotics – Vectors, Matrices and Linear Algebra concepts, Rigid body transformations – Translation and Rotation, Homogeneous Transformation matrix.

Unit 2 Kinematics of Simple Robotic Systems

Forward Kinematics of simple industrial robotic systems, Inverse kinematics of simple industrial robotic systems, Differential Kinematics of simple industrial robotic systems, Kinematics of simple wheeled mobile robots.

Unit 3 Dynamics and Control of Simple Robotic Systems

Introduction to rigid body kinetics, Euler-Lagrange equation of simple robotic systems, Forward and Inverse dynamics of simple robotic systems, Velocity based control of simple robotic systems, Torque based control of robotic systems.

Objectives and Outcomes

Course Objectives

  • This course aims to provide students with an overview of concepts to applications of
  • This course intends to equip students with the ability to design and analyze simple and elementary robotic systems (Upto 4 DOF systems like SCARA) using mathematical and computational tools.
  • This course aims to give students elementary hands-on experience in programming robotic systems using Robotic Toolbox in python/Matlab.

Course Outcomes

After completing this course, students will be able to

 

CO1

Explain facts pertaining to robotics including history, sub-fields, and applications.

CO2

Explain the elementary concepts required for modelling robotic systems.

CO3

Develop mathematical and mechanistic models for simple robotic systems.

CO4

Use tools such as Robotics toolbox to program and visualize simple robotic systems

CO-PO Mapping

PO

P O 1

PO 2

PO 3

PO 4

PO 5

PO 6

PO 7

PO 8

PO 9

PO1 0

PO1 1

PO1 2

PSO 1

PSO 2

PS O3

CO

CO1

1

1

1

1

1

1

1

–

3

3

–

2

1

1

1

CO2

2

2

1

1

2

–

–

–

2

2

–

2

1

2

2

CO3

2

2

2

1

2

–

–

–

2

2

–

2

2

1

2

CO4

2

2

1

1

3

–

–

–

2

2

–

2

1

1

2

Text Books / References

Corke P. Robotics, Vision and Control. Springer; 2017.

Craig J J. Introduction to Robotics: Mechanics and Control. Pearson Publishing, 2017. Spong M.W., Hutchinson S. and Vidyasagar M, Robot Modeling and Control, Wiley, 2006 Saha S K, Introduction to Robotics, McGraw Hill publishing, 2014

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