Subject Syllabus
CSIT-803 (D) - Robotics
CSIT · Semester 8
Course Modules
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Pneumatic drives, hydraulic drives, mechanical drives and electrical drivesD.C. servo motors, stepper motor and A.C. servo motorsSalient features, applications and comparison of drivesEnd effectors and grippersMechanical grippers, pneumatic and hydraulic grippers, magnetic grippers and vacuum grippersTwo fingered and three fingered grippersInternal grippers and external grippersSelection and design considerations
Requirements of a sensorPosition sensors: piezo electric sensor, LVDT, resolvers, optical encoders and pneumatic position sensorsRange sensors: triangulation principle, structured lighting approach, time of flight range finders and laser range metersProximity sensors: inductive, Hall effect, capacitive, ultrasonic and optical proximity sensorsTouch sensors: binary sensors and analogue sensorsWrist sensors, compliance sensors and slip sensorsCamera, frame grabber, sensing and digitizing image dataSignal conversion, image storage and lighting techniquesImage processing and analysisData reduction: edge detection, feature extraction and object recognition algorithmsApplications: inspection, identification, visual serving and navigation
Forward kinematics, inverse kinematics and differencesForward kinematics and reverse kinematics of manipulators with two, three degrees of freedom in 2D and four degrees of freedom in 3DDeviations and problemsTeach pendant programmingLead through programmingRobot programming languagesVAL programming: motion commands, sensor commands, end effector commands and simple programs