Prof Ompeakash Mishra Prof Gayat Kanal ‘ro-Vice-Chancllor, IGNOU Directr, SOET, IGNOU (COURSE CURRICULUM DESIGN COMMITTEE. Prof VK. Jin Prof. 7. K Kundea Faculty Dept. of Mechanical Engineering Dept of Mechanical Engnceing School of Engg. & Teeh. Indian Isto Techology Indian Insta of Technology cee Kanpur New Delhi Prof P. Srinivas Kumar Prot R.A. Khan Pro lt” Dept of Mechanical Enginering of Subhas Mal Jase ite sania De Man} Keith New Deli De Manish Bhar De. Shiv Kumar Vyas Prof 8.8. Pandey Dr-P.V.M. Rao De. Ashish Agarwal. Dept of Mechanical Engineering Dept of Mechanical Engineering falgeoaig Indian laste of Tecnology Indian Insitute of Techology ne neta Powel, Mamba New Dei Ms. Kania Singh (On Study Leave) De. Basher Ahmed Prof SK. Saha ‘General Manager Depe of Mechanical Engincering ‘HE Indian Insiue of Techology Hyderabad New Deli BLOCK PREPARATION TEAM Usits Weitem by Prot SK. Saha Dept of Mechanical Engiserng Inga Inte of Tecnology Newb FROBUUTON aes case peepee a Mi A§ Cinta Me Henan Kua ain bia Reg (un) Prete ‘Acknowledgement: The robots on the cover page are designed and manufactured by the students of NT, Delhi for the ROBOCON Competitions held every year in india, Marc, 2008 (© Intra Ganda! Open Unvesiy, 2008 ISONS-L-26-654 Alrigh reered. No prof his work may be reprednced any frm by micgrphr ary termens “uhonpermiton ring rom he Ire Gans Natal Open Ue ‘eter foraton on end Cand atonal Open Une couse mayb ote fom te Une ofc a ‘Maidan Garkt, New Dethe-110 068. o ae aa Prd an published on bbl of te nde Gand Nas! Open Unies by Dict, SOET, ‘averse by Schl Engineering amd Technology, IGNOU New Dli-110 068 Phone 2982843 Fried ot Mi Lau Print ni, 586, GT. Road, ha, Dei 10032 Paper Used Abate Environment FriendlyROBOTICS ‘The course on Robotics for IGNOU students is divided into three blocks, namely, Block!" : — Robotandits Applications Block? : Kinematics and Dynamics of Robots Block 3+ Trajectory Planning and Control of Robots While Block 1 introduces robots used in industries, Block 2 presents the analyses required for their control and design. Finally, Block 3 outlines a contol strategy, path planning, te. to contol a robo, ‘To understand the topics covered in these blocks in a more lucid manner they are further vided ito thre units per black. Block I consists of tree units. In Unit diferent types of robots ae introduced with their application areas. Different methodologies used for obot classification of sri robots ae also presented. Unit 2 describes several types of actuators, namely, pneumatic, ‘hydraulic andeletric types, Sensors being the important components ofa robo are also ‘explained here. Unit 3 elaborates diferent applications of robots, eg. welding, rachining, ete. Varios aspects of robot economics are also considered here tn Block 2, there are tre units First nit defines architectures of a robt. Mathematical description ofthe robots pose, i. the position and orientation of ts endeflectr, is ‘presented, slong withthe definition of Denavit and Harcbnerg (DH) parameters. Second bite. Unit $form the fandamental basis forthe dynamics, design and conra of robot. Equations relating the joint coordinates with the Cartesian coordinates ofthe tndsfTector are derived, nthe lest unit ofthis block, dames is useful fo the contol and virtual representation of a robot system ferent methodologies like uler-Lagrange and Newton Euler equations of motion are derived here Last block, i Block 3 has tree units In fist unit, several rajctoy planning aspects, contol systems and robot programming are discussed. Joint and Cartsian space based trajectory planning equations are dried inthis unit In the second unt liner contra, PLPD, PID control lava et. are covered ad in the lst nit ferent robot ‘rogramming schemes ike omineandofF-line programming ae discussed,