Subject Code Subject Title Teaching Scheme Credit Offered at Prerequisite Mechanical Engineering Objectives

000000 Robotics And Artificial Intelligence (RAI) 04 Hrs (Lectures) + 02 Hrs (Tutorial +Activity Based Learning) 05 M. Tech. CAD/CAM Semester II NA 1. To prepare students for a professional career in Mechanical Engineering. 2. To prepare students to enter in Mechanical Engineering and closely related fields. 3. To provide a broad educational background and analytical problem-solving skills for successful transition to careers in other fields. 4. To develop skills for clear communication and responsible teamwork, foster professional and ethical attitudes and a sense of social responsibility, and instill a passion for life-long learning. 5. To prepare students to use modern computer tools to solve problems. 6. To prepare students to understand and appreciate professional behavior in engineering. To prepare students to be effective team members (teamwork skills as well as communication skills). 1. To understand the concepts, history and social impact of robot technology. 2. To understand the basic math governing kinematics and dynamics of the robots for automatic operations of the robot. 3. To understand the types of controllers and their significance on different industrial robots. 4. Learning the unconventional methods for problem solving. 5. Learning the usage of development environments for artificial intelligence applications. 6. Creating skills for the development and use of applications based on artificial intelligence techniques: neural networks, fuzzy controllers, and genetic algorithms. Unit - I Introduction to robotics: Evolution of robots and robotics, laws of robotics, progressive advancements in robots, Robot anatomy, human arm characteristics. Coordinate frames, mapping and transformations: Coordinate frames, description of object in space, transformation of vectors, inverting a homogeneous transform, fundamental rotation matrices. Direct kinematic model: Mechanical structure and notations, description of links and joints, kinematic modeling of the manipulator, Denavit Hartenberg notation, kinematic relationship between adjacent links, manipulator transformation matrix. Inverse kinematic model: Manipulator workspace, solvability of inverse kinematic model, solution techniques, closed form solutions.

Subject Objectives

Syllabus Contents

Unit - II Manipulator differential motion and statics: Linear and angular velocity of a rigid body, relationship between transformation matrix and angular velocity, mapping velocity vector, velocity propagation along links, manipulator Jacobian, Jacobian inverse and singularities, static analysis. Dynamic modeling: Lagrangian mechanics, 2- DOF manipulator dynamic model, L E formulation and N E formulation and comparison of both the formulation methods, inverse dynamics. Miscellaneous topics: Introduction and techniques of trajectory planning, open and close loop control, manipulator control problem, linear control schemes, joint actuators, PD and PID control schemes, robot programming languages, sensors in robotics, industrial applications of vision controlled robotic system, robot applications. Unit - III Introduction to Artificial Intelligence (AI): The AI problems, the underlying assumption, what is an AI technique? The level of the model, criteria for success. Problem solving: Defining the problem as a state space search, production systems, problem characteristics, production system characteristics, issues in the design of search problems. Heuristic search techniques: Generate and test, hill climbing, best first search, problem reduction, constraint satisfaction, Means Ends analysis. Structured approach to knowledge representation: Introduction, semantic nets, inheritance in semantic nets, frames, Petri nets, conceptual dependency. Unit IV Artificial Neural Networks: Introduction, historical note, biological and artificial neurons, multilayer perception, modeling the problem, types of data involved, training, issues in ANN, applications of ANN in robotics. Fuzzy logic systems: Introduction to fuzzy sets, classical sets, properties of classical sets and their operations, properties of fuzzy sets and their operations, classical vs fuzzy relations, introduction to fuzzy logic, fuzzy control and its applications in robotics. Genetic Algorithm: Introduction, genetic search, genetic programming, applications in robotics. Mode of Delivery Classroom/Laboratory Teaching - Teaching through models, transparencies, LCD & OH Projectors. Industrial visits - Plant visits in any automobile assembly or operation line; where robots are used. Experts Lecture. - Through different field engineers using control systems with soft computing methods,

and expert faculty Demonstrations. - Seminar on selected topics, Group Discussion, Assignments, Problems & case studies, Industry based assignments, Handouts, Computer programming/software based assignments Text books Reference Books Robotics and Control by R K Mittal and I J Nagrath, Tata McGraw-Hill publication. Artificial Intelligence by E. Rich, K. Knight and S. B. Nair, Tata McGraw-Hill publication. Introduction to Robotics: Mechanics and Control by John. J. Craig, Pearson education. Modeling, Identification and Control of Robots by W Khalil and E Dombre, Kogan page science paper edition. Artificial Intelligence and Soft Computing: Behavioral and Cognitive modeling of the human brain by Amit Konar, CRC Press. Real life applications of soft computing by A. Shukla, R. Tiwari and R. Kala, CRC Press, Taylor and Fransis group. Intelligent control systems using soft computing methodologies: Edited by A. Zilouchian and M. Jamshidi, CRC Press.