Robotics and Industrial Automation
One of the most desired capabilities of robots is to fetch a can of beer from the refrigerator and to serve that to you, when you'd not be in a position to do so. This course is towards the same technology and hence worthy of reading. The course discusses the math and science of this noble task, so that one can program robotic manipulators to work, while ensuring no spillage, no destruction, no getting stuck, and an accurate and efficient service.
The course talks about the basics of robotics in general and the robotic manipulators in specific, explaining all the key components which enables the manipulators to carry operations. One could transform the pose of one joint of the manipulator to the other, finally giving the ability to know the location of the hand or the end-effector with respect to the base; further creating a mechanism to compute the pose of every joint to get the hand or the end-effector at the desired location. The velocities can be transformed between joints to get the velocity of the end-effector or the inverse. The relations can be used to compute a smooth trajectory for the end-effector and joints of the manipulator to achieve the desired task. Once these basic blocks are known, one could make a dynamics model of the manipulator and further devise control strategies for the manipulator. The ability to control the manipulator makes the basic foundation block to program the robot to carry interesting operations, or to use a simulation setup to test the correctness of the program. Finally the technology leads to an automation setup and automation models for the factory floor.
Syllabus
| S. No. | Topic |
| 1. | Introduction and definition of robotics |
| 2. | Spatial description and transformation. |
| 3. | Manipulator Kinematics and D-H principle |
| 4. | Inverse manipulator kinematics |
| 5. | Manipulator Jacobian: Velocity and static forces |
| 6. | Manipulator dynamics: Lagrangian formulation and Newton-Euler formulation |
| 7. | Trajectory generation |
| 8. | Linear control of manipulator, nonlinear control, force control |
| 9. | Robot programming languages and systems |
| 10. | Offline Programming systems |
| 11. | Automation: Introduction, definition of automation. Different types of automation: Flexible and Rigid automation their advantages and disadvantages. Details about flexible automation: JIT, KANBAN, KIZEN. CIM (Computer Integrated Manufacturing using CAD/CAM) |
Pre-Requisites
Basic understanding of maths and physics will be very helpful in studying the course.
Text/Reference Material
- Main textbook: John J. Craig (2005) Introduction to Robotics: Mechanics and Control , Pearson, Upper Saddle River, NJ.
- Reference book: K. S. Fu, R. Gonzalez, C. S. G. Lee (2008) Robotics: Control, Sensing, Vision and Intelligence, McGraw-Hill, New Delhi, India.
Whats New
- Inauguration of the Centre of Intelligent Robotics from 2nd to 3rd January, 2020
- Paper presented at CICT 2019 at IIIT Allahabad. The paper is a part of the ASEAN funded project.
- 2 Papers presented at IEEE CEC Wellington are available online.
- Paper at Computational Intelligence published in an issue.
- Hosted Teun Mentzel at IIIT Allahabad for framing the incubation program NewGen IEDC
- Hosted the first advisory board meeting of the NewGen IEDC incubation project
- Delivered a talk at IEEE CIS Summer School at IIIT Allahabad
- Visited UBL Jakarta under the ASEAN project scheme. Delivered talks at multiple venues.
- Delivered talks on Artificial Intelligence at GAT Bangalore
- Participated and presented 2 papers at the IEEE CEC 2019
