Qualification: 
MS, B-Tech
rg_chittawadigi@blr.amrita.edu

Mr. Rajeevlochana G. Chittawadigi joined Department of Mechanical Engineering on 2nd January 2015. He has completed M.S.(Research) in Mechanical Engineering, 2013 from IIT Delhi and B.Tech in Mechanical Engineering, 2006 from MNNITAllahabad (Formerly MNREC). He has published 7 papers in international conferences and 5 papers in national conferences. He has joined for part-time PhD program in the Department of Mechanical Engineering at IIT Delhi, New Delhi.

PROFESSIONAL EXPERIENCE:

  • Senior Software Engineer in 3dPLM Software Solutions Limited, Bangalore From Jan 2014 to Dec 2014
  • Senior Research Fellow in IIT Delhi, New Delhi From May 2010 to Dec 2013
  • Project Scientist in IIT Delhi, New Delhi From Apr 2009 to Apr 2010
  • CAD Developer for AR-CAD.com From Apr 2007 to Mar 2009
  • Graduate Engineer Trainee in Hero Honda Motors Limited, Gurgaon From Jul 2006 to Mar 2007

PROFESSIONAL AFFILIATIONS:

  • Association for Machines and Mechanisms (AMM) India
  • Robotics Society of India (RSI): The Publicity Chair for the Society

AWARDS AND RECOGNITIONS:

  1. Young Delegate Program Award to attend ISRM-2013 (International Symposium for Robotics and Mechatronics) Conference at Singapore
  2. Student Travel Award Grant to attend IEEE-RSJ IROS-2013 (IEEE International Conference on Intelligent Robots and Systems) at Tokyo
  3. Best Paper Award in ARMS-2005 (Aerospace Related Mechanism Seminar) at ISRO, Bangalore

SOFTWARE DEVELOPED:

SEE ALSO:  www.rajeevlochana.com

Publications

Publication Type: Book

Year of Publication Publication Type Title

2016

Book

D. Kumar Mandal, Syan, C. Singh, and Rajeevlochana G. Chittawadigi, CAD/CAM, Robotics and Factories of the Future: Proceedings of the 28th International Conference on CARs & FoF 2016. Springer, 2016.

Publication Type: Journal Article

Year of Publication Publication Type Title

2016

Journal Article

S. Kumar Verma, Kumar, R., Rajeevlochana G. Chittawadigi, and Saha, S. Kumar, “Kinematic Analysis of Mechanisms using Velocity and Acceleration Diagrams (VAD) Module in MechAnalyzer Software”, 2016.[Abstract]


Kinematic analysis of mechanisms is a precursor to their dynamic analysis and hence is a very important component in the courses related to Machine Design and Theory of Machines. There are various methods like analytical, numerical, and graphical for kinematic analysis of mechanisms. While teaching to undergraduate students graphical methods are emphasized in the curriculum as the students find them relatively easy to understand. Graphical method includes drawing of position of links followed by the velocity and acceleration diagrams in vector-loop form yielding velocity and acceleration polygons. Drawing these polygons is time consuming and becomes tedious for different orientations of links. A computer based approach can certainly be a useful tool in this matter. There are various software packages available which seem to be helpful in forward kinematic analysis. However, in the best knowledge of the authors, none of them draw velocity and acceleration polygons. In this paper, a module to draw Velocity and Acceleration Diagrams or VAD module is presented. It was developed as a part of MechAnalyzer software, a 3D model based mechanism learning software. The VAD module is helpful in forward kinematic analysis of various planar mechanisms preloaded in it, and draws position, velocity, and acceleration polygons. It has an interesting feature of animating the drawing of polygons in the way they are drawn by a teacher on the board of a classroom. More »»

2016

Journal Article

S. Kumar Verma, Swaminathan, J., Rajeevlochana G. Chittawadigi, and Saha, S. Kumar, “Static force analysis of planar mechanisms in MechAnalyzer software”, 2016.

2016

Journal Article

R. Kumar, Vantmuri, S. D., Rajeevlochana G. Chittawadigi, and Saha, S. Kumar, “Dynamic analyses of four-bar mechanism in MechAnalyzer software”, 2016.

2015

Journal Article

R. O. M. Sadanand, Sairaman, S., H, S. Balaji P., Rajeevlochana G. Chittawadigi, Saha, S. K., and Udhayakumar, G., “Kinematic Analysis of MTAB Robots and its integration with RoboAnalyzer Software”, 2015.[Abstract]


Robotics has emerged as a research interest to find its place in various applications such as industries, automobile, space robots, health care, etc. The thrust in robotics research has resulted in increasing number of courses being introduced in the engineering curriculum. Fundamental concepts in robot mechanics are difficult to visualize using text books alone and hence, require either a physical robot or a simulation software to demonstrate the same. Effective robotics education can be achieved using serial robots and a visualization software. In this paper, affordable serial chain robots developed by MTAB are presented along with its integration with a simulation software named RoboAnalyzer. The forward and inverse kinematic analyses of the MTAB Mini and Aristo robots, and the implementation of the same in RoboAnalyzer software is also presented for comprehensive learning of the robotics topics. More »»

2013

Journal Article

R. Sadanand OM, Rajeevlochana G. Chittawadigi, and Saha, S. K., “Virtual Robot Simulation in RoboAnalyzer”, Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms , 2013.[Abstract]


Robotics is an important area not only in research and development but also from the perspective of industrial automation. As a result, increasing number of fundamental and advanced level robotics courses are being introduced in the undergraduate and postgraduate curricula, particularly in Mechanical and Electrical engineering streams. Robot kinematics is the cornerstone of such courses and it is equally challenging for teachers to teach as well as students to learn, as the concepts such as Denavit-Hartenberg (DH) parameters, robot kinematic and dynamic analyses, trajectory planning, etc. are difficult to understand. Various robotics learning software and tools have been developed by researchers around the world. One such attempt is made here to develop software called RoboAnalyzer. It can show animated DH parameters and performs forward and inverse kinematics, and dynamic analyses on serial robots. In this paper, a new module named “Virtual Robot Module” is reported which consists of 17 CAD models of commercially available industrial robots. Joint-level and Cartesian-level jogging can be performed on these robots. Relative and absolute motion of the endeffector can be achieved in the Cartesian space by controlling the position as well as the orientation of the endeffector. RoboAnalyzer software is freely available for academic purposes from http://www.roboanalyzer.com, and can be used by teachers and students almost instantly. It has a very easy to use interface and lets the user start learning the robotics concepts directly rather than learning CAD modeling, assembly modeling and then simulate a robot, as done using any commercial CAD software such as ADAMS, RecurDyn, Autodesk Inventor, etc. More »»

2010

Journal Article

R. Sadanand OM, Sairaman, S., Sah, P. H. Balaji, Udhayakumar, G., Rajeevlochana G. Chittawadigi, and Saha, S. Kumar, “Kinematic Analysis of MTAB Robots and its integration with RoboAnalyzer Software”, 2010.[Abstract]


Robotics has emerged as a research interest to find its place in various applications such as industries, automobile, space robots, health care, etc. The thrust in robotics research has resulted in increasing number of courses being introduced in the engineering curriculum. Fundamental concepts in robot mechanics are difficult to visualize using text books alone and hence, require either a physical robot or a simulation software to demonstrate the same. Effective robotics education can be achieved using serial robots and a visualization software. In this paper, affordable serial chain robots developed by MTAB are presented along with its integration with a simulation software named RoboAnalyzer. The forward and inverse kinematic analyses of the MTAB Mini and Aristo robots, and the implementation of the same in RoboAnalyzer software is also presented for comprehensive learning of the robotics topics. More »»

Publication Type: Conference Paper

Year of Publication Publication Type Title

2016

Conference Paper

S. A. Antao, Rajeevlochana G. Chittawadigi, Vishal, S., Rajan, S., and Nair, V. S., “Passive Balancing of a Novel 3-R Orientation Sensing Mechanism”, in 8th Asian Conference on Multibody Dynamics (ACMD2016), 2016.

2015

Conference Paper

S. Hampali, Rajeevlochana G. Chittawadigi, and Saha, S. K., “MechAnalyzer: 3D Model Based Mechanism Learning Software”, in Proceedings of the 14th IFToMM World Congress, 2015.[Abstract]


Study of various planar and spatial linkages is a first step towards the learning of Multi body dynamics. It is covered in Mechanism Design or Theory of Machines, which is a basic course taught in the curriculum of Mechanical Engineering. Students learn to formulate and solve kinematic and dynamic equations to analyze different types of mechanisms. A computer-based approach to solve these equations becomes imminent when the number of equations increases and also for a quick and better understanding through visualization. Currently, there are several free and commercially available software which can help students in this matter. Unfortunately, considerable amount of time is required to train students in order to use them. In this paper, a software named “MechAnalyzer” is presented, which is developed to analyze and simulate the mechanisms that are already preloaded in it, hence, reducing the time and effort required to get started with it. More »»

2015

Conference Paper

R. Lokesh, Rajeevlochana G. Chittawadigi, and Saha, S. Kumar, “MechAnalyzer: 3D Simulation Software to Teach Kinematics of Machines”, in 2nd International and 17th National Conference on Machines and Mechanisms (iNaCoMM2015), 2015.[Abstract]


Theory of Machine course includes kinematics and dynamics of mechanisms and machines. Though it is an important part of Mechanical Engineering curriculum, it is often difficult for teachers to teach and students to learn the concepts related to mechanisms, by just following text-books. With physical prototypes or virtual mechanisms in a software environment, the course can be taught in a lucid and effective way. While several commericial and free software exist that can be used to compliment the teaching and learning, a significant amount of time is required to learn the software first, and then use it. In this paper, MechAnalyzer (Version 3) software is presented which has a very simple to use interface and an easy learning curve. An user can select from any of the available mechanism and change the input parameters. A 3D model of the selected mechanism with linkages and joints are generated and shown to the user in a 3D environment, whose motion can be animated and seen. The main advantage of MechAnalyzer is that it has been developed as a framework with modules making it easier for developers to add new mechanisms. The authors would like to include as many mechanisms as possible to make it a digital library of mechanism and perform analyses on them. More »»

2015

Conference Paper

R. O. M. Sadanand, Rajeevlochana G. Chittawadigi, Joshi, R., and Saha, S. K., “Virtual Robots Module: An effective visualization tool for Robotics Toolbox”, in Proceedings of 2nd Advances in Robotics, 2015.[Abstract]


An introductory level robotics course mainly comprises the topics like geometry, kinematics, and dynamics of serial-chain robots. The description of the robot geometry using the Denavit-Hartenberg parameters and the kinematic and dynamic analyses require advanced mathematical concepts and are computationally intensive for robots with higher degrees-of-freedom. This calls for the use of robotics learning software, which would effectively aid the instructor to explain the concepts lucidly, and help the students in analyzing the mechanics of the robot. Robotics Toolbox is one such commonly used software, which is a collection of MATLAB-based functions that support various dedicated mathematical operations required in mechanical analysis of robots. RoboAnalyzer is another attempt towards the same goal, which focuses on the learning of robotics concepts from the physics of the robot motion. In this paper the integration of the Virtual Robots Module of RoboAnalyzer with the Robotics Toolbox is presented. With multiple number of industrial robot models, the Virtual Robots Module acts as an effective visualization add-in for the analysis performed using the Robotics Toolbox. The proposed visualization add-in can be used from software like MATLAB, MS-Excel, etc. The Virtual Robots Module allows improved visualization and easy simulation of industrial robot models for robotics research and education. More »»

2013

Conference Paper

J. Bahuguna, Rajeevlochana G. Chittawadigi, and Saha, S. K., “Teaching and Learning of Robot Kinematics Using RoboAnalyzer Software”, in Teaching and Learning of Robot Kinematics Using RoboAnalyzer Software, 2013.[Abstract]


Robots are used at various places for different applications and hence the subjects related to robotics find their place in the courses of Mechanical and Electrical engineering disciplines. The concepts of robotics are typically difficult to understand from images and figures, thus several software to aid the learning of these concepts have been developed. RoboAnalyzer is one such software developed by the authors to perform kinematic and dynamic analyses of serial robots. It is an ongoing activity and in this paper, the modules of "Visualization of DH Parameters and Transformations", "3D CAD Model Importer" and "Inverse Kinematics" are explained and illustrated. RoboAnalyzer software can be downloaded for free from http://www.roboanalyzer.com and can be used almost instantly. More »»

2013

Conference Paper

A. A. Hayat, Rajeevlochana G. Chittawadigi, and Saha, S. K., “Identification of Denavit-Hartenberg Parameters of an Industrial Robot”, in Advances in Robotics, 2013.[Abstract]


Kinematic identification of a serial robot has been an active field of research as the need for improving the accuracy of a robot is increasing with time. Denavit-Hartenberg (DH) parameters of a serial robot, which are typically used to represent its architecture, are usually provided by its manufacturer. At times these parameters are not the same and hence they need to be identified. An analytical method proposed elsewhere was used here for identification of an industrial robot by noting the values of the point on the end-effector due to rotation of each joint, locking all other joints, were found out using singular value decomposition. The DH parameters of the robot determined using the proposed methodology, matched satisfactorily with the robot specifications. Also, the bounding volume for the joint ranges infers that a smaller measurement volume relative to the robot workspace is required thus facilitating the use of measurement devices which have smaller range of measurement. More »»

2013

Conference Paper

Rajeevlochana G. Chittawadigi and Saha, S. K. and, “An Analytical Method to Detect Collision between Cylinders Using Dual Number Algebra”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.[Abstract]


Cylinder, a common geometric entity has a discontinuity at the joining of cylindrical surface and circular-disks. Hence, collision detection between two cylinders in space is a difficult task and few have reported formulations to solve it. In this paper, a novel analytical methodology is proposed to detect collision or intersection between two cylinders. The configuration, i.e., position and orientation, between the cylinders was represented using the four Denavit-Hartenberg (DH) parameters plus two extra parameters. Dual Number Algebra was used to extract these six parameters. Tests involved in collision detection between the cylinders were between the lines and rectangles in a plane, thus considerably simplifying the problem of collision detection. As an illustration, an one-DOF arm modeled as a cylinder with cylindrical shaped obstacles were modeled and tested for their collisions. The results were validated with an analytical method available in the literature and a commercial software. More »»

2013

Conference Paper

Rajeevlochana G. Chittawadigi, Hayat, A. A., and Saha, S. K., “Geometric model identification of a serial robot”, in The 3rd IFToMM International Symposium on Robotics and Mechatronics, 2013.

2013

Conference Paper

R. Sadanand OM, Rajeevlochana G. Chittawadigi, and Saha, S. K., “Virtual Robots in RoboAnalyzer Software”, in The 1st International & 16th National Conference on Machines and Mechanisms, 2013.

2012

Conference Paper

Rajeevlochana G. Chittawadigi and Saha, S. K., “RoboAnalyzer: 3D model based robotic learning software”, in Proceedings of the International Conference on Multi Body Dynamics, 2012.[Abstract]


Robotics has been a challenging subject for teachers to teach and for students to learn. One of the important aspects that make it difficult is the limited ability to perceive and visualize the concepts appropriately at the time of teaching. Most of the industrial robots are described geometrically by their Denavit-Hartenberg (DH) parameters, which are also difficult to perceive for students. Students will find the subject easier to learn if they are able to visualize in 3 dimensions. Tools that aid its learning have been developed by universities across the world as referred elsewhere. This paper proposes RoboAnalyzer, a 3D model based software that can be used to teach robotics subjects to undergraduate and postgraduate courses in engineering colleges in India and elsewhere. In the present implementation, it can be used to learn DH parameters, forward kinematics of serial robots with revolute joints and allows 3D animation and graph plots as output. More »»

2012

Conference Paper

Rajeevlochana G. Chittawadigi, Saha, S. K., and Kumar, S., “Automatic Extraction of DH Parameters of Serial Manipulators using Line Geometry”, in The 2nd Joint International Conference on Multibody System Dynamics, 2012.

2012

Conference Paper

M. Chauhan, Rajeevlochana G. Chittawadigi, Saha, S. K., and Singh, S. Paul, “Control of an Omnidirectional Walking Simulator”, in 12th International Symposium on Experimental Robotics, 2012.[Abstract]


Simulators are a unique way of replicating any real world scenario. It gives one the opportunity to be in a place virtually without being present there physically. The motivation behind making this simulator was to replicate real world terrains and make a human walk in that environment. The basic application which acted as motivation was training people like soldiers, sportspersons and others on various terrains. Control of a prototype is reported in this paper. The prototype is an omnidirectional walking simulator that allows one to walk on it to get the feeling of walking on a horizontal levelled plane in any direction. More »»

2012

Conference Paper

S. Kumar, Rajeevlochana G. Chittawadigi, and Saha, S. K., “Realistic Modeling and Dynamic Simulation of KUKA KR5 Robot using RecurDyn”, 2012.

2011

Conference Paper

Rajeevlochana G. Chittawadigi, Jain, A., Shah, S. V., and Saha, S. K., “Recursive Robot Dynamics in RoboAnalyzer”, in 15th National Conference on Machines and Mechanisms, 2011.[Abstract]


Robotics has emerged as a major field of research and application over the years, and has also found a place in the curriculum of universities. Robotics as a course is challenging both for the teachers to teach and the students to learn as it involves 3D transformations, algebraic and differential equations, etc., which are difficult to understand. Several robotics learning software have been developed have helped to ease the learning of robotics as a subject. A similar attempt was made in developing RoboAnalyzer, a 3D model based robotics learning software that modelled a serial robot based on its DH-parameters. It could perform forward kinematics and show animation and graph plot as outputs. In this paper, further development of RoboAnalyzer is reported in the form of addition of inverse and forward dynamics analyses of a generic serial manipulator. The important contributions of this paper lie in the development of algorithms using an object oriented modelling approach and the Decoupled Natural Orthogonal Complement (DeNOC)-based recursive formulation. A KUKA KR5 robot was modelled in the proposed software, and the results were verified with those obtained using the Dynamic Simulation module of Autodesk Inventor. RoboAnalyzer can be downloaded for free from http://www.roboanalyzer.com and can be used almost instantly. More »»

2011

Conference Paper

A. D. Udai, Rajeevlochana G. Chittawadigi, and Saha, S. K., “Dynamic Simulation of a KUKA KR5 Industrial Robot using MATLAB SimMechanics”, in 15th National Conference on Machines and Mechanisms, 2011.

2009

Conference Paper

Rajeevlochana G. Chittawadigi, “Spatial R-C-C-R Mechanism for a Single DOF Gripper”, in Proceedings of the 14th national conference on machines and mechanisms, 2009.

2005

Conference Paper

R. Lochana, Sen, D., and Rajeevlochana G. Chittawadigi, “Studies on a Novel Constant Velocity Mechanism and Exploring its Use in Deployable Structures”, in 5th National Seminar on Aerospace Related Mechanism, 2005.

Publication Type: Book Chapter

Year of Publication Publication Type Title

2016

Book Chapter

R. Sadanand, Joshi, R. Prakash, Rajeevlochana G. Chittawadigi, and Saha, S. Kumar, “Virtual Experiments for Integrated Teaching and Learning of Robot Mechanics Using RoboAnalyzer”, in CAD/CAM, Robotics and Factories of the Future: Proceedings of the 28th International Conference on CARs {&} FoF 2016, D. Kumar Mandal and Syan, C. Singh New Delhi: Springer India, 2016, pp. 59–68.[Abstract]


Increasing number of universities are offering robotics courses at undergraduate and graduate level. Introductory courses on robot mechanics involve topics from matrix multiplication, coordinate transformations and multivariate equations. Often, the physical meaning of concepts in kinematics and dynamics are lost behind the complicated mathematics involved in them. Hence, it may be the case that some fundamental concepts in robot mechanics may not be very intuitive to teach or learn. In order to appreciate the same, robotics teaching/learning software can be integrated into the curriculum. In this paper, the use of RoboAnalyzer, a 3D model based software for teaching and learning a course in robot mechanics is discussed. An integrated coursework that involves virtual experiments and projects in robot mechanics using RoboAnalyzer is also proposed in the paper. The foreseen advantages of using RoboAnalyzer in classroom and laboratory sessions are also discussed. More »»
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