ROBOTICS AND AUTOMATION

CATEGORY L T P CREDIT
RAT 281 BASICS OF ROBOTICS
VAC 3 1 0 4

Course Outcomes: After the completion of the course the student will be able to

CO 1 Familiarise with anatomy, specifications and applications of Robots

CO 2 Choose the appropriate sensors and actuators for robots
CO 3 Choose appropriate Robotic configuration and gripper for a particular application
CO 4 Obtain kinematic model of robotic manipulators
CO 5 Plan trajectories in joint space and Cartesian space
CO 6 Develop dynamic model and design the controller for robotic manipulators
Mapping of course outcomes with program outcomes

PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7 PO 8 PO 9 PO PO PO
10 11 12
CO 1 2 1 3
CO 2 2 1 3
CO 3 2 1 3
CO 4 3 2 2 3
CO 5 3 2 2 3
CO 6 3 2 2 3

Assessment Pattern

Bloom’s Category Continuous Assessment Tests End Semester Examination

1 2
Remember 10 10 10
Understand 20 20 20
Apply 20 20 70
Analyse
Evaluate
Create

Mark distribution

Total Marks CIE ESE ESE Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks
Continuous Assessment Test (2 numbers) : 25 marks
Assignment/Quiz/Course project : 15 marks
 ROBOTICS AND AUTOMATION

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A contain 10
questions with 2 questions from each module, having 3 marks for each question. Students should
answer all questions. Part B contains 2 questions from each module of which student should answer
any one. Each question can have maximum 2 sub-divisions and carry 14 marks.
.

Module I:

Definitions- Robots, Robotics; Types of Robots- Manipulators, Mobile Robots-wheeled & Legged
Robots, Aerial Robots; Anatomy of a robotic manipulator-links, joints, actuators, sensors, controller;
open kinematic vs closed kinematic chain; degrees of freedom; Robot considerations for an
application- number of axes, work volume, capacity & speed, stroke &reach, Repeatability, Precision
and Accuracy, Operating environment, point to point control or continuous path control.

Robot Applications- medical, mining, space, defence, security, domestic, entertainment, Industrial
Applications-Material handling, welding, Spray painting, Machining.

Module II

Sensors and Actuators

Sensor classification- touch, force, proximity, vision sensors.
Internal sensors-Position sensors, velocity sensors, acceleration sensors, Force sensors; External
sensors-contact type, noncontact type; Vision - Elements of vision sensor, image acquisition, image
processing; Selection of sensors.
Actuators for robots- classification-Electric, Hydraulic, Pneumatic actuators; their advantages and
disadvantages; Electric actuators- Stepper motors, DC motors, DC servo motors and their drivers, AC
motors, Linear actuators, selection of motors; Hydraulic actuators- Components and typical circuit,
advantages and disadvantages; Pneumatic Actuators- Components and typical circuit, advantages
and disadvantages.

Module III
Robotic configurations and end effectors

Robot configurations-PPP, RPP, RRP, RRR; features of SCARA, PUMA Robots; Classification of robots
based on motion control methods and drive technologies; 3R concurrent wrist;

Classification of End effectors - mechanical grippers, special tools, Magnetic grippers, Vacuum
grippers, adhesive grippers, Active and passive grippers, selection and design considerations of
grippers in robot.

Module IV
Kinematics and Motion Planning
Robot Coordinate Systems- Fundamental and composite rotations, homogeneous co-ordinates and
transformations, Kinematic parameters, D-H representation, Direct Kinematics. The Arm equation-
forward Kinematic analysis of a typical robots upto 3 DOF.

Motion Planning- joint space trajectory planning-cubic polynomial, linear trajectory with parabolic
blends; Cartesian space planning, Point to point vs continuous path planning.
 ROBOTICS AND AUTOMATION

Module V
Dynamics and Control of Robots

Building of a servo controlled robot – 1R two link chain, construction of link and joint and mounting
of encoder, actuator, etc.
Dynamics- Dynamic model of a robot using Lagrange’s equation, dynamic modelling of 1DOF robot,
including motor and gearbox, 2R planar manipulator.
Control Techniques- Transfer function and state space representation, Performance and stability of
feed back control, PID control of a single link manipulator, selection of PID controller gains;
nonlinear nature of manipulators, and need for nonlinear control techniques.

Text Books

1. Introduction to Robotics by S K Saha, Mc Graw Hill Eduaction

2. Robert. J. Schilling , “Fundamentals of robotics – Analysis and control”, Prentice Hall of India
1996.
3. R K Mittal and I J Nagrath, “Robotics and Control”, Tata McGraw Hill, New Delhi,2003.
4. Introduction to Robotics ( Mechanics and control), John. J. Craig, Pearson Education Asia
2002.
5. Ashitava Ghosal, “Robotics-Fundamental concepts and analysis”, Oxford University press.
6. Robotics Technology and Flexible Automation, Second Edition, S. R. Deb

Course Contents and Lecture Schedule

No Topic No. of
Lectures
1
1.1 Introduction, Definitions- Robots, Robotics; 1
1.2 Types of Robots- Manipulators, Mobile Robots-wheeled & Legged Robots, 1
Aerial Robots;
1.3 Anatomy of a robotic manipulator-links, joints, actuators, sensors, controller; 1
open kinematic vs closed kinematic chain; degrees of freedom;

1.4 Robot considerations for an application- number of axes, work volume, 1

capacity & speed, stroke &reach, Repeatability, Precision and Accuracy,
Operating environment, point to point control or continuous path control.
1.5 Robot Applications- medical, mining, space, defence, security, domestic, 2
entertainment
1.6 Industrial Applications-Material handling, welding, Spray painting, Machining. 2
2 Sensors and Actuators
2.1 Sensor classification- touch, force, proximity, vision sensors 1
2.2 Internal sensors-Position sensors, velocity sensors, acceleration sensors, Force 2
sensors;
2.3 External sensors-contact type, noncontact type; 1
2.4 Vision-Elements of vision sensor, image acquisition, image processing; 2
Selection of sensors.
2.5 Actuators for robots classification-Electric, Hydraulic, Pneumatic actuators; 1
their advantages and disadvantages;
 ROBOTICS AND AUTOMATION

2.6 Electric actuators- Stepper motors, DC motors, DC servo motors and their 2
drivers, AC motors, Linear actuators, selection of motors;
2.7 Hydraulic actuators- Components and typical circuit, advantages and 2
disadvantages; Pneumatic Actuators- Components and typical circuit,
advantages and disadvantages.
3 Robotic configurations and end effectors

3.1 Robot configurations-PPP, RPP, RRP, RRR; features of SCARA, PUMA Robots 3
3.2 Classification of robots based on motion control methods and drive 2
technologies; 3R concurrent wrist;
3.3 Classification of End effectors - mechanical grippers, special tools, Magnetic 3
grippers, Vacuum grippers, adhesive grippers, Active and passive grippers,
selection and design considerations of grippers in robot.
4 Kinematics and Motion Planning
4.1 Robot Coordinate Systems- Fundamental and composite rotations, 4
homogeneous co-ordinates and transformations
4.2 Kinematic parameters, D-H representation, Direct Kinematics. The Arm 4
equation- forward Kinematic analysis of a typical robots upto 3 DOF.
Motion Planning- joint space trajectory planning-cubic polynomial, linear 2
trajectory with parabolic blends; Cartesian space planning, Point to point vs
continuous path planning.
5 Dynamics and Control of Robots
5.1 Building of a servo controlled robot – 1R two link chain, construction of link 2
and joint and mounting of encoder, actuator, etc.
5.2 Dynamics- Dynamic model of a robot using Lagrange’s equation, dynamic 2
modelling of 1DOF robot, including motor and gearbox.
5.3 Control Techniques- Transfer function and state space representation, 4
Performance and stability of feed back control, PID control of a single link
manipulator, selection of PID controller gains; nonlinear nature of
manipulators, and need for nonlinear control techniques.

MODEL QUESTION PAPER

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

THIRD SEMESTER B.TECH. DEGREE EXAMINATION

Course Code: RAT 281

Course Name: BASICS OF ROBOTICS
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all questions, each carries 3 marks. Marks
1 Define reach and stroke of a robotic manipulator. (3 )
2 What are the characteristics of spot welding robot? (3 )
 ROBOTICS AND AUTOMATION

3 A strain gauge of gauge factor 2 and resistance of the unreformed wire 100 Ω is used to (3 )
-6
measure the acceleration of an object of mass 3kg. If the strain is 10 , cross sectional
area=10mm2 and Young’s modulus =6.910-10N/m2, compute the acceleration of the
object.
4 Compare hydraulic and pneumatic actuators. ( 3)
5 Explain the features of a SCARA robot ( 3)
6 What are the advantages and disadvantages of a pneumatic gripper? ( 3)
7 If a point , find the new location of the point P, if it is rotated (3)

by about z-axis of fixed frame and then translated by 3 units along y axis.

8 How will you compute end effector position and orientation of a robotic arm? (3)
9 What is the necessity of dynamic modelling of robotic manipulators? (3)
10 Is a robotic system linear or nonlinear? Justify your answer. (3)
PART B
Answer any one full question from each module, each carries 14 marks.
MODULE1
11 a) Explain in detail the specifications of a robotic manipulator. (10 )
b) What is the typical anatomy of a robotic manipulator? (8 )
12 a) Explain in detail any two industrial applications of Robots. ( 10)
b) Compare point to point control and continuous path control. (4 )
MODULE II
13 a) How will you choose appropriate sensor for a robotic application? (8 )
b) Mention the applications of vision sensor (6)
14 a) Outline the method of varying position using servo motor and stepper motor. (8)
b) Explain the working of typical hydraulic actuator. (6)
MODULE III
15 a) Explain in detail all robotic configurations. (14)
16 Describe the types of end effector & gripper mechanisms with simple sketches (14)
MODULE IV
17 a) Obtain the forward kinematic model of the following robot (14)
 ROBOTICS AND AUTOMATION

18 a) The second joint of a SCARA robot has to move from 150 to 450 in 3 sec. Find the (8)
coefficients of the cubic polynomial to interpolate a smooth trajectory. Also obtain the
position, velocity and acceleration profiles

b) How will you plan a straight line trajectory in Cartesian space? (6)
MODULE V
19 a) Obtain the dynamic model of 1 DOF robot operated by electric motor. (8)
b) How will you build a servo controlled robotic arm? (6)
20 a) Describe the schematic of PID controlled robotic manipulator and derive the closed (10)
loop transfer function. Explain how gains are computed for the PID controller?
b) Comment on the stability of the above controller (4)
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