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    Gujarat Technological University: W.E.F. AY 2018-19

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    Parmar Dhruvrajsinh
    Problem solving skills

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    Gujarat Technological University: W.E.F. AY 2018-19

    Uploaded by

    Parmar Dhruvrajsinh
    26 views3 pages
    Problem solving skills

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    3154102

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    Problem solving skills

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    © All Rights Reserved
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    Download as pdf or txt
    26 views3 pages

    Gujarat Technological University: W.E.F. AY 2018-19

    Uploaded by

    Parmar Dhruvrajsinh
    Problem solving skills

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    GUJARAT TECHNOLOGICAL UNIVERSITY

    Bachelor of Engineering
    Subject Code: 3154102
    Semester – V
    Subject Name: Principles of Robotics

    Type of course: Professional Core Course

    Prerequisite: None

    Rationale: Principles of Robotics is fundamental course for robotics and Automation engineers to
    understand principle of robot. This course is essential for Kinematics of motion and kinematics- SCARA
    robots, Wrist and arm singularity.

    Teaching and Examination Scheme:

    Teaching Scheme Credits Examination Marks Total


    L T P C Theory Marks Practical Marks Marks
    ESE (E) PA (M) ESE (V) PA (I)
    4 0 2 5 70 30 30 20 150

    Content:

    Sr. No. Content Total


    Hrs

    Basic Concepts:-
    1 Brief history-Types of Robot–Technology-Robot classifications and specifications-Design 9
    and controlissues- Various manipulators – Sensors - work cell - Programming languages.
    Direct And Inverse Kinematics:-
    Mathematical representation of Robots - Position and orientation – Homogeneous
    2 13
    transformation-Various joints- Representation using the Denavit Hattenberg parameters -
    Degrees of freedom-Direct kinematics-Inverse kinematics- SCARA robots- Solvability –
    Solution methods-Closed form solution
    Manipulator Differential Motion And Statics:-
    3 9
    Linear and angular velocities-Manipulator Jacobian-Prismatic and rotary joints–Inverse -
    Wrist and arm singularity - Static analysis - Force and moment Balance.
    Path Planning:-
    4 Definition-Joint space technique-Use of p-degree polynomial-Cubic polynomial- 9
    Cartesian space technique - Parametric descriptions - Straight line and circular paths -
    Position and orientation planning.
    Dynamics And Control:-
    5 Lagrangian mechanics- 2 DOF Manipulator-Lagrange Euler formulation-Dynamic 12
    model – Manipulator control problem-Linear control schemes-PID control scheme-Force
    control of robotic manipulator.

    Suggested Specification table with Marks (Theory): (For BE only)


    Page 1 of 3

    w.e.f. AY 2018-19
    GUJARAT TECHNOLOGICAL UNIVERSITY
    Bachelor of Engineering
    Subject Code: 3154102
    Distribution of Theory Marks

    R Level U Level A Level N Level E Level C Level


    -
    20% 25% 20% 26% 8%
    Legends: R: Remembrance; U: Understanding; A: Application, N: Analyze and E: Evaluate C:
    Create and above Levels (Revised Bloom’s Taxonomy)

    Note: This specification table shall be treated as a general guideline for students and teachers. The actual
    distribution of marks in the question paper may vary slightly from above table.

    Reference Books:

    1. R.K.Mittal and I.J.Nagrath, Robotics and Control, Tata McGraw Hill, New Delhi,4th Reprint, 2005.
    2. JohnJ.Craig ,Introduction to Robotics Mechanics and Control, Third edition, Pearson Education,
    2009.
    3. M.P.Groover, M.Weiss, R.N. Nageland N. G.Odrej, Industrial Robotics, McGraw-Hill Singapore,
    1996.

    Course Outcomes: After learning the course the students should be able to:

    Sr. CO statement Marks %


    No. weightage
    CO-1 To introduce the functional elements of Robotics 17%
    CO-2 To impart knowledge on the direct and inverse kinematics 25%
    CO-3 To introduce the manipulator differential motion and control 17%
    CO-4 To educate on various path planning techniques 17%
    CO-5 To introduce the dynamics and control of manipulators 24%

    List of Experiments:

    1. Determination of maximum and minimum position of links.


    2. Verification of transformation (Position and orientation) with respect to gripper and world
    Coordinate system.
    3. Estimation of accuracy, repeatability and resolution.
    4. Robot programming and simulation for pick and place.
    5. Robot programming and simulation for Colour identification.
    6. Robot programming and simulation for Shape identification.
    7. Robot programming and simulation for machining.
    8. Robot programming and simulation for writing practice.
    9. Robot programming and simulation for any industrial process ( Packaging, Assembly)
    10. Robot programming and simulation for multi process.

    Major Equipment:
    Page 2 of 3

    w.e.f. AY 2018-19
    GUJARAT TECHNOLOGICAL UNIVERSITY
    Bachelor of Engineering
    Subject Code: 3154102
    1. 1DOF “Rconfiguration”robot.
    2. 2DOF “Rconfiguration”robot.
    3. Workstation for robotic arm.

    List of Open Source Software/learning website:

     ROS (Microsoft Robotics Studio, Orocos)

    Page 3 of 3

    w.e.f. AY 2018-19

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