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MH1401 ROBOTICS AND MACHINE VISION SYSTEMS
UNIT I
Robotics – Introduction–Basic Structure– Classification of robot and Robotic systems –laws of robotics – robot motions – work space, precision of movement.
Drives and control systems: Hydraulic systems, power supply – servo valve – sump – hydraulic motor – DC servo motors – stepper motors – operation.
Mechanical Components of Robots: Power transmission systems: Gear transmission. Belt drives, cables, Roller Chains, Link – Road Systems, Rotary to linear motion conversion, Ract and pinion drives, ball bearing screws, speed reducers, Harmonic drives.
UNIT II
Kinematics of Robot: Introduction, Matrix Representation, Homogeneous transformation, forward and inverse Kinematics, Inverse Kinematics Programming, Degeneracy, dexterity, velocity and static forces, velocity transformation force control systems, Basics of Trajectory planning.
UNIT III
Robot End Effectors: Types of end effectors – Mechanical grippers – Types of Gripper mechanisms – Grippers force analysis – Other types of Grippers – Vacuum cups – Magnetic Grippers – Adhesive Grippers – Robot end effector interface.
Sensors: Position sensors – Potentiometers, encoders – LVDT, Velocity sensors, Acceleration Sensors, Force, Pressure and Torque sensors, Touch and Tactile sensors, Proximity, Range and sniff sensors, RCC, VOICE recognition and synthesizers.
UNIT IV
Machine Vision: Introduction – Image processing Vs image analysis, image Acquisition, digital Images – Sampling and Quantization – Image definition, levels of Computation.
Image processing Techniques: Data reduction – Windowing, digital conversion. Segmentation – Thresholding, Connectivity, Noise Reduction, Edge detection, Segmentation, Region growing and Region Splitting, Binary Morphology and grey morphology operations.
UNIT V
Feature Extraction: Geometry of curves – Curve approximation, Texture and texture analysis, Image resolution – Depth and volume, Color processing, Object recognition by features, Depth measurement, specialized lighting techniques. Segmentation using motion – Tracking. Image Data Compression, Real time Image processing, Application of Vision systems.
TEXT BOOK
1. Saeed B. Niku, Introduction to Robotics: Analysis, Systems, Applications, 2nd edition, Pearson Education India, PHI 2003 (ISBN 81-7808-677-8)
REFERENCES
1. M.P. Groover, Industrial Robotics – Technology, Programming and Applications, McGraw-Hill, USA, 1986.
2. Ramesh Jam, Rangachari Kasturi, Brain G. Schunck, Machine Vision, Tata McGraw-Hill, 1991.
3. Yoremkoren, Robotics for Engineers, McGraw-Hill, USA, 1987.
4. P.A. Janaki Raman, Robotics and Image Processing, Tata McGraw-Hill, 1991.
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| Author: Vidya 23 May 2008 | Member Level: Diamond Points : 2 |
useful article
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| Author: Chithra 24 May 2008 | Member Level: Gold Points : 2 |
nice information
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