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NAMAKKAL

DEPARTMENT OF MECHANICAL ENGINEERING

COURSE FILE
University/Regulation: Anna University, Chennai/Regulation 2008

Year / Semester: IV / VII

Subject Code/Name: ME6010 / ROBOTICS

PREPARED BY APPROVED BY
Mr.I.SIRAJUDEEN, AP/MECH Mr.G.SELVARAJ, HOD/MECH
 COURSE DETAILS

SUBJECT NAME & ROBOTICS &

ME6010 DEPARTMENT: MECHANICAL
CODE:
LECTURE
SEMESTER: VII 3
HOURS/WEEK:

COURSE CREDIT: 3 TOTAL HOURS: 45

STAFF NAME & Mr.I.SIRAJUDEEN,

TUTORIAL: 0 DESIGNATION: AP/MECH

COURSE OBJECTIVES:
 To understand the functions of the basic components of a Robot.
 To study the use of various types of End of Effectors and Sensors
 To impart knowledge in Robot Kinematics and Programming
 To learn Robot safety issues and economics.

COURSE SYLLABUS:
UNIT I FUNDAMENTALS OF ROBOT 6
Robot - Definition - Robot Anatomy - Co ordinate Systems, Work Envelope Types and
Classification- Specifications-Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay
Load- Robot Parts and their Functions-Need for Robots-Different Applications.
UNIT II ROBOT DRIVE SYSTEMS AND END EFFECTORS 9
Pneumatic Drives-Hydraulic Drives-Mechanical Drives-Electrical Drives-D.C. Servo
Motors, Stepper Motors, A.C. Servo Motors-Salient Features, Applications and
Comparison of all these Drives, End Effectors-Grippers-Mechanical Grippers, Pneumatic
and Hydraulic- Grippers, Magnetic Grippers, 90 Vacuum Grippers; Two Fingered and
Three Fingered Grippers; Internal Grippers and External Grippers; Selection and Design
Considerations.
UNIT III SENSORS AND MACHINE VISION 12
Requirements of a sensor, Principles and Applications of the following types of sensors-
Position sensors - Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, pneumatic
Position Sensors, Range Sensors Triangulations Principles, Structured, Lighting
Approach, Time of Flight, Range Finders, Laser Range Meters, Touch Sensors ,binary
Sensors., Analog Sensors, Wrist Sensors, Compliance Sensors, Slip Sensors, Camera,
Frame Grabber, Sensing and Digitizing Image Data- Signal Conversion, Image Storage,
Lighting Techniques, Image Processing and Analysis-Data Reduction, Segmentation,
Feature Extraction, Object Recognition, Other Algorithms, Applications Inspection,
Identification, Visual Serving and Navigation.
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING 13
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and
Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2
Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-
Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-
Derivations and problems. Lead through Programming, Robot programming
Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector
commands and simple Programs.
UNIT V IMPLEMENTATION AND ROBOT ECONOMICS 5
RGV, AGV; Implementation of Robots in Industries-Various Steps; Safety Considerations
for Robot Operations - Economic Analysis of Robots.
TOTAL: 45 PERIODS
CONTENT BEYOND THE SYLLABUS:
 Guest lectures on recent developments in the field of robotics
 Assignments, Technical Quizzes and competitions are held regularly to enrich
their academic competitiveness
 Teaching materials of subjects are kept in the library for benefiting students for
studying beyond college hours
 Seminars, which involve learning groups, provide an opportunity for active
discussions on recent trends.
 Regular industrial visits are organized for the students to get acquainted with
the work place environment.

COURSE OUTCOMES:
By studying this course, students will be
  Familiar with the history, concept development and key components of robotics
technologies.
 Understand basic mathematic manipulations of spatial coordinate representation
and transformation. 
 Understand and able to solve basic robot forward and inverse kinematics
problems.
 Understand and able to solve basic robotic dynamics, path planning and control
problems. 
 Able to undertake practical robotics experiments that demonstrate the above
skills.
TEXT BOOK:
1. Klafter R.D., Chmielewski T.A and Negin M., “Robotic Engineering - An
Integrated Approach”, Prentice Hall, 2003.
2. Groover M.P., “Industrial Robotics -Technology Programming and
Applications”, McGraw Hill, 2001.
REFERENCES:
1. Craig J.J., “Introduction to Robotics Mechanics and Control”, Pearson
Education, 2008.
2. Deb S.R., “Robotics Technology and Flexible Automation” Tata McGraw Hill
Book Co., 1994.
3. Koren Y., “Robotics for Engineers", Mc Graw Hill Book Co., 1992.
4. Fu.K.S.,Gonzalz R.C. and Lee C.S.G., “Robotics Control, Sensing, Vision and
Intelligence”, McGraw Hill Book Co., 1987.
5. Janakiraman P.A., “Robotics and Image Processing”, Tata McGraw Hill, 1995.
6. Rajput R.K., “Robotics and Industrial Automation”, S.Chand and Company,
2008.
7. Surender Kumar, “Industrial Robots and Computer Integrated Manufacturing”, Oxford
and IBH Publishing Co. Pvt. Ltd., 1991.
WEB RESOURCES
http://en.wikipedia.org/wiki/Robotics
http://www.robotics.nasa.gov/
http://spectrum.ieee.org/robotics
 http://new.abb.com/products/robotics
http://www.rethinkrobotics.com/
http://research.gsd.harvard.edu/drg/
COURSE OUTCOME ASSESSMENT
CO I - Assignment
CO II - Test
CO III - Practical’s
CO IV - Mini Project

SELVAM COLLEGE OF TECHNOLOGY

Namakkal-03

DEPARTMENT OF MECHANICAL ENGINEERING

 ACADEMIC CALENDER & TIMETABLE

SUBJECT CODE: ME 6010

SUBJECT NAME: ROBOTICS

SELVAM COLLEGE OF TECHNOLOGY

Namakkal-03

DEPARTMENT OF MECHANICAL ENGINEERING

 PROGRAM OUTCOMES & COURSE OUTCOMES

SUBJECT CODE: ME 6010

SUBJECT NAME: ROBOTICS

SELVAM COLLEGE OF TECHNOLOGY, NAMAKKAL – 637003

DEPARTMENT OF MECHANICAL ENGINEERING
ACADEMIC YEAR : 2016 - 2017

Faculty Name: I.SIRAJUDEEN Prerequisites: PPT,VIDEOS

Branch & Year: MECH & IV Semester : VII

Subject Code : ME6010 Section : A

Subject Name : ROBOTICS Class Room : LH-4

PROGRAM OUTCOMES & COURSE OUTCOMES

Program Outcomes:
a) Graduates will demonstrate knowledge of mathematics, Engineering, life science,
environmental, studies.
b) Graduates will demonstrate the ability to design and conduct experiments, interpret
and analyze data, and report results.
c) Graduates have an ability to design a system, component or process to meet desired
needs.
d) The graduates are encouraged to participate in multi-disciplinary academic
endeavors
e) The graduates must have an understanding of professional and ethical responsibility
f) Graduates will have the confidence to apply engineering solutions in global and
societal contexts.
g) Graduates will be broadly educated and will have an understanding of the impact of
engineering on society and demonstrate awareness of modern issues.
h) Graduates have an ability to use the techniques, skills and modern engineering tools
necessary for engineering practice.
i) Graduates have an ability to start a newly invented organization.
j) Graduates have an ability to do research for improving the functional effectiveness of
the existing systems

Course Outcomes
By studying this course, students will be
 Familiar with the history, concept development and key components of robotics
technologies.
 Understand basic mathematic manipulations of spatial coordinate representation
and transformation. 
 Understand and able to solve basic robot forward and inverse kinematics problems.
 Understand and able to solve basic robotic dynamics, path planning and control
problems. 
 Able to undertake practical robotics experiments that demonstrate the above skills.
SELVAM COLLEGE OF TECHNOLOGY, NAMAKKAL – 637003
DEPARTMENT OF MECHANICAL ENGINEERING
ACADEMIC YEAR : 2016-2017

Faculty Name: I.SIRAJUDEEN Prerequisites: PPT,VIDEOS

Branch & Year: MECH & IV Semester : VII

Subject Code : ME6010 Section : A

Subject Name : ROBOTICS Class Room : LH-4

 MAPPING OF COURSE OUTCOMES WITH PROGRAM OUTCOMES

Course outcomes /Program

a b c d e f g h i j
Outcomes

Familiar with the history, concept

development and key components *
of robotics technologies. *
Understand basic mathematic
manipulations of spatial coordinate *
representation and transformation. *
Understand and able to solve basic
robot forward
kinematics problems.
and inverse * *
Understand and able to solve basic
robotic dynamics, path planning and
control problems.
* *
Able to undertake practical robotics
experiments that demonstrate the
above skills
* *

Signature of Faculty Signature of HOD Signature of Principal

SELVAM COLLEGE OF TECHNOLOGY

Namakkal-03

DEPARTMENT OF MECHANICAL ENGINEERING

 LESSON PLAN

SUBJECT CODE: ME 6010

SUBJECT NAME: ROBOTICS

SELVAM COLLEGE OF TECHNOLOGY, NAMAKKAL –

637003
DEPARTMENT OF MECHANICAL ENGINEERING
LESSON PLAN
ACADEMIC YEAR : 2016-2017

Faculty Name: I.SIRAJUDEEN Prerequisites: PPT,VIDEOS

Branch & Year: MECH & IV Semester : VII

Subject Code : ME6010 Section : A

Subject Name : ROBOTICS Class Room : LH-4

OBJECTIVES:
  To understand the functions of the basic components of a Robot.
 To study the use of various types of End of Effectors and Sensors
 To impart knowledge in Robot Kinematics and Programming
 To learn Robot safety issues and economics.
TEXT BOOK:
1. Klafter R.D., Chmielewski T.A and Negin M., “Robotic Engineering - An
Integrated Approach”, Prentice Hall, 2003.
2. Groover M.P., “Industrial Robotics -Technology Programming and
Applications”, McGraw Hill, 2001.
REFERENCES:
1. Craig J.J., “Introduction to Robotics Mechanics and Control”, Pearson
Education, 2008.
2. Deb S.R., “Robotics Technology and Flexible Automation” Tata McGraw Hill
Book Co., 1994.
3. Koren Y., “Robotics for Engineers", Mc Graw Hill Book Co., 1992.
4. Fu.K.S.,Gonzalz R.C. and Lee C.S.G., “Robotics Control, Sensing, Vision and
Intelligence”, McGraw Hill Book Co., 1987.
5. Janakiraman P.A., “Robotics and Image Processing”, Tata McGraw Hill, 1995.
6. Rajput R.K., “Robotics and Industrial Automation”, S.Chand and Company,
2008.
7. Surender Kumar, “Industrial Robots and Computer Integrated Manufacturing”,
Oxford and IBH Publishing Co. Pvt. Ltd., 1991.
Actual date

Teaching
Planned date

Sl. T / R*

Aids
Unit

Topic(s) Pages
No Book

1 01.07.16 I FUNDAMENTALS OF ROBOT T1 BB/PPT

1.1-1.10
Robot – Definition – Robot Anatomy

2 02.07.16 I Co-ordinate Systems, Work Envelope T1 BB/PPT

1.11-1.22

3 02.07.16 I Types and classification – Specifications T1 BB/PPT

1.25-1.33

Pitch, Yaw, Roll, Joint Notations, Speed of

4 05.07.16 I T1 BB/PPT
Motion, Pay Load 1.33-1.39

5 05.07.16 I Robot Parts & their Functions T1 1.40-1.47 BB/PPT

&1.57-1.67
 Teaching Aids
Planned date

Actual date
Sl. T / R*

Unit
Topic(s) Pages
No Book

Need for Robots - Different Applications of

6 08.07.16 I T1 1.48-1.56& BB/PPT
Robots
1.67-1.72

7 09.07.16 I Content Beyond Syllabus - - BB/PPT

ROBOT DRIVE SYSTEMS AND END

8 09.07.16 II EFFECTORS T1 BB/PPT
Pneumatic Drives – Hydraulic Drives - 2.1-2.6
Mechanical Drives
Electrical Drives - D.C. Servo Motors,
9 12.07.16 II T1 BB/PPT
Stepper Motor 2.7-2.9

10 12.07.16 II A.C. Servo Motors – Salient Features T1 BB/PPT

2.10-2.20
Applications and Comparison of all these
11 13.07.16 II T1 BB/PPT
Drives 2.21-2.25

12 15.07.16 II End Effectors – Grippers-description T1 BB/PPT

2.26-2.33

13 16.07.16 II Mechanical & Pneumatic Grippers T1 BB/PPT

3.1-3.7

14 16.07.16 II Hydraulic Grippers, Magnetic Grippers T1 BB/PPT

3.8-3.12
Vacuum Grippers; Two Fingered and
15 19.07.16 II T1 3.16-3.18 BB/PPT
Three Fingered Grippers

Internal Grippers and External Grippers;

16 19.07.16 II T1 3.13-3.15 BB/PPT
Selection and Design Considerations

17 20.07.16 II Content Beyond Syllabus - - BB/PPT

SENSORS AND MACHINE VISION

18 22.07.16 III Requirements of a sensor, Principles of a T1 4.1-4.6 BB/PPT
sensor

Applications of the following types of

19 23.07.16 III sensors -Position of sensors (Piezo Electric T1 4.7-4.11 BB/PPT
Sensor, LVDT)
 Teaching Aids
Planned date

Actual date
Sl. T / R*

Unit
Topic(s) Pages
No Book

Position of sensors (Resolvers, Optical

20 23.07.16 III T1 4.12-4.19 BB/PPT
Encoders, Pneumatic Position Sensors)

Range Sensors (Triangulation Principle,

21 02.08.16 III T1 4.20-4.28 BB/PPT
Structured, Lighting Approach)

Range Sensors (Time of Flight Range

22 02.08.16 III T1 4.29-4.41 BB/PPT
Finders, Laser Range Meters)

Proximity Sensors (Inductive, Hall Effect,

23 03.08.16 III Capacitive, Ultrasonic and Optical T1 4.42-4.50 BB/PPT
Proximity Sensors)

Touch Sensors, (Binary Sensors, Analog

24 05.08.16 III Sensors), Wrist Sensors, Compliance T1 5.1-5.10 BB/PPT
Sensors, Slip Sensors

Camera, Frame Grabber, Sensing and

25 06.08.16 III T1 5.11-5.22 BB/PPT
Digitizing Image Data

Signal Conversion, Image Storage, Lighting

26 06.08.16 III T1 5.23-5.38 BB/PPT
Techniques

Image Processing and Analysis – Data

27 09.08.16 III Reduction, Segmentation, Feature T1 5.39-5.56 BB/PPT
Extraction

28 09.08.16 III Object Recognition, Other Algorithms. T1 5.57-5.62 BB/PPT

29 10.08.16 III Applications – Inspection, Identification, T1 5.64-5.76 BB/PPT

Visual Serving and Navigation.

30 12.08.16 III Content Beyond Syllabus - - BB/PPT

ROBOT KINEMATICS AND ROBOT

31 16.08.16 IV PROGRAMMING T1 6.1-6.8 BB/PPT
Forward Kinematics, Inverse Kinematics
and Differences
Forward Kinematics and Reverse
32 16.08.16 IV Kinematics of Manipulators with Two T1 6.22-6.24 BB/PPT
Degrees of Freedom
 Teaching Aids
Planned date

Actual date
Sl. T / R*

Unit
Topic(s) Pages
No Book

Forward Kinematics and Reverse

33 17.08.16 IV Kinematics of Manipulators with Three T1 6.25-6.27 BB/PPT
Degrees of Freedom

Forward Kinematics and Reverse

34 19.08.16 IV Kinematics of Manipulators with Three T1 6.28-6.31 BB/PPT
Degrees of Freedom

Four Degrees of Freedom (In three

35 20.08.16 IV T1 6.32-6.35 BB/PPT
Dimensional) - DH matrices

Four Degrees of Freedom (In three

36 20.08.16 IV T1 6.36-6.44 BB/PPT
Dimensional) - Deviations and Problems.

37 06.09.16 IV Teach Pendant Programming T1 7.1-7.8 BB/PPT

38 06.09.16 IV Lead through programming T1 7.9- 7.14& BB/PPT

7.27-7.28
Robot programming Languages – VAL
39 07.09.16 IV T1 7.16-7.18 BB/PPT
Programming

40 09.09.16 IV Motion Commands, Sensor Commands T1 7.28-7.32 BB/PPT

41 10.09.16 IV End effecter commands, and Simple T1 7.38-7.41 BB/PPT

Programs of pick and place robot

42 14.09.16 IV Simple programs T1 7.34-7.37 BB/PPT

43 16.09.16 IV Simple programs T1 7.38-7.45 BB/PPT

44 17.09.16 IV Content Beyond Syllabus - - BB/PPT

IMPLEMENTATION AND ROBOT

45 17.09.16 V T1 8.1-8.13 BB/PPT
ECONOMICS
RGV,AGV-Description
46 20.09.16 V Implementation of Robots in Industries T1 8.15-8.22 BB/PPT

47 20.09.16 V Various Steps involved T1 8.23-8.34 BB/PPT

 Teaching Aids
Planned date

Actual date
Sl. T / R*

Unit
Topic(s) Pages
No Book

Safety Considerations for Robot

48 21.09.16 V T1 8.36-8.50 BB/PPT
Operations-maintenance

Economic Analysis of Robots - Simple

49 23.09.16 V T1 9.1-9.20 BB/PPT
problems on this methods

50 24.09.16 V Content Beyond Syllabus - - BB/PPT

51 27.09.16 I,II,V Revision on unit – I,II and V - - BB/PPT

52 27.09.16 III,IV Revision on unit – III,IV - - BB/PPT

* T à Text Book / R à Reference Book;

BB àBlack board, OHP àOver head projection, PPTàPower point presentation

Date: / /

Signature of Faculty Signature of HOD Signature of Principal

SELVAM COLLEGE OF TECHNOLOGY

Namakkal-03

DEPARTMENT OF MECHANICAL ENGINEERING

 STUDENT NAME LIST

SUBJECT CODE: ME 6010

SUBJECT NAME: ROBOTICS