PEI335
ROBOTIC TECHNOLOGY |
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|
L |
T |
P |
Cr |
|
3 |
1 |
0 |
3.5 |
Prerequisite(s): None |
Fundamentals: historical
information, robot components, Robot characteristics, Robot anatomy, Basic
structure of robots, Resolution, Accuracy and repeatability
Robot
Kinematics : Position Analysis
forward and inverse kinematics of robots, Including frame representations,
Transformations, position and orientation analysis and the Denavit-Hartenberg representation of robot kinematics, The manipulators,
The wrist motion and grippers.
Robot
Dynamic Analysis and Forces: Analysis of robot dynamics and forces, Lagrangian mechanics is used as the primary method of
analysis and development.
Trajectory
Planning: Methods of path and trajectory planning, Both in joint-space and in Cartesian-space.
Actuators
and Sensors: Actuators, including hydraulic devices, Electric
motors such as DC servomotors and stepper motors, Pneumatic devices, as well as
many other novel actuators, It also covers microprocessor control of these
actuators, Mechatronics, Tactile sensors, Proximity
and range sensors, Force and torque sensors, Uses of sensors in robotics
Robot
Programming, Systems and Applications:
Robot languages, Method of robots programming, Lead through programming
methods, A robot programs as a path in space, Motion
interpolation, WAIT, SIGNAL and DELAY commands, Branching capabilities and
limitation of lead through methods and robotic applications.
Fuzzy
Logic Control: Basic principles of
fuzzy logic and its applications in microprocessor control and robotics.
Recommended
Books