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2007-08
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY
HYDERABAD
IV Year B.Tech. MP I-Sem T P C
4+1* 0 4
ROBOTICS
(ELECTIVE – II)
UNIT – I
Introduction: Automation and Robotics, CAD/CAM and Robotics – An over view of Robotics – present
and future applications – classification by coordinate system and control system.
UNIT – II
Components of the Industrial Robotics: Function line diagram representation of robot arms, common
types of arms. Components, Architecture, number of degrees of freedom – Requirements and challenges
of end effectors, determination of the end effectors, comparison of Electric, Hydraulic and Pneumatic
types of locomotion devices.
UNIT – III
Motion Analysis: Homogeneous transformations as applicable to rotation and translation – problems.
UNIT – IV
Manipulator Kinematics: Specifications of matrices, D-H notation joint coordinates and world coordinates
Forward and inverse kinematics – problems.
UNIT – V
Differential transformation and manipulators, Jacobians – problems.Dynamics: Lagrange – Euler and
Newton – Euler formations – Problems.
UNIT VI
Trajectory planning and avoidance of obstacles, path planning, Skew motion, joint integrated motion –
straight line motion – Robot programming, languages and software packages.
UNIT VII
Robot actuators and Feed back components: Actuators: Pneumatic, Hydraulic actuators, electric &
stepper motors. Feedback components: position sensors – potentiometers, resolvers, encoders – Velocity
sensors.
UNIT VIII
Robot Application in Manufacturing: Material Transfer - Material handling, loading and unloading-
Processing - spot and continuous arc welding & spray painting - Assembly and Inspection.
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| Author: India 20 Dec 2007 | Member Level: Diamond Points : 1 |
TEXT BOOKS :
1. Industrial Robotics / Groover M P /Pearson Edu.
2. Robotics and Control / Mittal R K & Nagrath I J / TMH.
REFERENCES :
1. Robotics / Fu K S/ McGraw Hill.
2. An Introduction to Robot Technology, / P. Coiffet and M. Chaironze / Kogam Page Ltd. 1983 London.
3. Robotic Engineering / Richard D. Klafter, Prentice Hall
4. Robot Analysis and Intelligence / Asada and Slow time / Wiley Inter-Science.
5. Introduction to Robotics / John J Craig / Pearson Edu.
6. Robot Dynamics & Control – Mark W. Spong and M. Vidyasagar / John Wiley & Sons (ASIA) Pte Ltd.
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