Mgu University S8 Electrical & electronics engineering Syllabus
Module 1
Introduction: Historical development-classification of robots-applications-robots kinematics- joints and links-degree of freedom-description of position, orientation, frames-mapping from one frame to another-compound transformations-inverse of transform matrix-transform equations-kinematics of three degree of freedom manipulators-Description of links-intermediate links in chain-First and last links in chain -Link parameters-affixing frames to links-derivation of link transformation matrix-Description of an industrial robot.
Introduction: Historical development-classification of robots-applications-robots kinematics- joints and links-degree of freedom-description of position, orientation, frames-mapping from one frame to another-compound transformations-inverse of transform matrix-transform equations-kinematics of three degree of freedom manipulators-Description of links-intermediate links in chain-First and last links in chain -Link parameters-affixing frames to links-derivation of link transformation matrix-Description of an industrial robot.
Module 2
Inverse manipulator kinematics – Workspace-solvability-multiple solutions-Algebraic solution.
Drive and control systems for robots: hydraulic systems and DC servomotors
Position control for robots-simple position control system-position control along a trajectory
Inverse manipulator kinematics – Workspace-solvability-multiple solutions-Algebraic solution.
Drive and control systems for robots: hydraulic systems and DC servomotors
Position control for robots-simple position control system-position control along a trajectory
Module 3
Robot end- effectors: Classification of end-effectors-drive System for grippers-mechanical grippers magnetic grippers-vacuum grippers-gripper force analysis and gripper design.
Robot end- effectors: Classification of end-effectors-drive System for grippers-mechanical grippers magnetic grippers-vacuum grippers-gripper force analysis and gripper design.
Module 4
Sensors and intelligent robots: need for sensing systems- sensing devices-piezoelectric sensors-linear position and displacement sensing absolute optical encoding-incremental optical encoder-position and direction measurement-velocity measurement—force and torque sensors-proximity sensors-range sensors-robot vision systems
Sensors and intelligent robots: need for sensing systems- sensing devices-piezoelectric sensors-linear position and displacement sensing absolute optical encoding-incremental optical encoder-position and direction measurement-velocity measurement—force and torque sensors-proximity sensors-range sensors-robot vision systems
Module 5
Trajectory planning for Robots: Joint space schemes-cubic polynomials with via points-Blending schemes – interfacing to microprocessors and computers.
Trajectory planning for Robots: Joint space schemes-cubic polynomials with via points-Blending schemes – interfacing to microprocessors and computers.
References
Robotics and Image Processing – PA Janakiraman
Robotic Technology and flexible Automation – S R Deb
Robotics for engineers – Yoram Koren
4. Introduction to Robotics- Analysis, Systems and Applications: Saeed B. Nikku, Pearson Education Asia, LPE
Robotic Technology and flexible Automation – S R Deb
Robotics for engineers – Yoram Koren
4. Introduction to Robotics- Analysis, Systems and Applications: Saeed B. Nikku, Pearson Education Asia, LPE