VARDHAMAN COLLEGE OF ENGINEERING, HYDERABAD

(AUTONOMOUS)
COURSE PACK FOR
FUNDAMENTALS OF ROBOTICS
Course Title FUNDAMENTALS OF ROBOTICS Course Type OPEN ELECTIVE-III

Course Code A4333 Credits 03 Class IV Year II Semester

Contact Work Total Number of
TLP Credits Assessment in
Hours Load Classes
Weightage
Theory 3 3 3 Per Semester
Course
Structure Tutorial 0 0 0 Theory Practical CIE SEE

Total 3 3 3 42 0 30% 70%

Course Lead: Dr. K.V.P. CHAKRADHAR

Theory Practice
Course
Instructors A. Dr. K.V.P. CHAKRADHAR
B. Dr. M. VISHNU VARDHAN
---
C. Mr. S. NARESH KUMAR
D. Dr. P. VENKATESHWAR REDDY

COURSE DESCRIPTION

This course introduces students to the basics, types and elements of robots. The course exposes
students to the theoretical concepts of robot kinematics. Path planning and trajectory planning
concepts gives the perception on control of robotics. The concepts on actuators and sensors gives
clear understanding and design ability for robot mobility systems. It gives an overview on
application of robotics in manufacturing industry and other sectors.
COURSE OBJECTIVE

The main objective of this course is to introduce the concepts of Robotic system, its components
and instrumentation and control related to robotics.

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COURSE OUTCOMES (COs)

After the completion of the course, the student will be able to:
COs Course Outcomes POs PSOs
A4333.1 Understand the basic concepts and components of a robotic system.
1 -

A4333.2 Identify the use of actuators and sensors for designing robot mobility 1
system. -
A4333.3 Solve transformation problems to describe the position and orientation 1, 2, 3
-
of robot.
A4333.4 Apply the concepts of robot work cell design and control. 1, 2, 3
-
A4333.5 Select appropriate robots for various applications suitable to modern 1
manufacturing systems. -

BLOOM’S LEVEL OF THE COURSE OUTCOMES

Bloom’s Level
COs Remember Understand Apply Analyze Evaluate Create
(L1) (L2) (L3) (L4) (L5) (L6)
A4333.1
✔
A4333.2
✔
A4333.3
✔
A4333.4
✔
A4333.5
✔

COURSE ARTICULATION MATRIX

PO10

PO11

PO12

PSO1

PSO2

COs/
PO1

PO2

PO3

PO4

PO5

PO6

PO7

PO8

PO9

POs

A4333.1
3
A4333.2 3

A4333.3 3 3 2

A4333.4 3 3 2

A4333.5 3

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Note: 1-Low, 2-Medium, 3-High

COURSE ASSESSMENT
Duration Component Wise
S. No. Component Marks
in Hours Marks
1 Continuous Theory: Test-1 1.5 40
2 Internal Theory: Test-2 1.5 40 (100x 0.3)=
Evaluation 30M
(CIE) Alternate
3 - 20
Assessment *
(100x 0.7)=
4 Semester End Exam (SEE) 3 100
70M
Total Marks 100
* Assignment, Quiz, SWAYAM/NPTEL/MOOCs and etc.

COURSE CONTENT

Contents
INTRODUCTION TO ROBOTICS: Introduction, Classification of Robots, Advantages and
Disadvantages of Robots, Degrees of freedom, Joints, Robot coordinates, Robot workspace, Robot
characteristics, Robot Components, types of robot arms, end effectors, grippers.
ACTUATORS: Characteristics of Actuating Systems, Comparison of Actuating Systems, Hydraulic
and Pneumatic Devices, Electric Motors in Robotics.
SENSORS: Sensor Characteristics, Position Sensors, Velocity Sensors, Acceleration Sensors,
Touch and Tactile Sensors, Proximity Sensors, Range Finder
MANIPULATOR KINEMATICS: Specifications of matrices, Homogeneous Transformation, D-H
notation, joint coordinates and world coordinates, Forward and inverse kinematics, Simple
problems.
PATH PLANNING: Trajectory planning and avoidance of obstacles, Path planning, introduction
to robot programming.
ROBOT WORK CELL DESIGN AND CONTROL: Robot Cell Layouts, Multiple Robots and Machine
Interface, Some Consideration in Work Cell Design, Interlocks, Error Detection and Recovery,
Robot Cycle Time Analysis.
ROBOTIC APPLICATIONS: Robots in manufacturing and non- manufacturing applications,
Health applications, Intelligent Home Applications, Military Applications, Space Applications,
Entertainment robots, Service robots, Domestic or household robots.

Text Book:

1. Richard D. Klafter (2010), Robotic Engineering, 2nd edition, Prentice Hall of India, New Delhi.
2. M.P. Groover (2010), Industrial Robotics, 3rd edition, Pearson Education, New Delhi.

Reference Books:

1. R.K. Mittal, I.J. Nagrath (2012), Robotics and Control, 1st edition, Tata Mc Graw Hill, New Delhi.

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2. P. Coiffet, M. Chaironze (2010), An Introduction to Robot Technology, 3 rd edition, Kogam Page
Ltd., London.
3. Ganesh S. Hegde (2015), A Textbook of Industrial Robotics, 2nd edition, University Science Press.

Journals/Magazines
1. International Journal of Robotics.
2. Robotics and Autonomous Systems.

SWAYAM/NPTEL/MOOCs:
1. https:// nptel.ac.in/courses/112/105/112105249/
2. https://nptel.ac.in/courses/112/107/112107289/

LESSON PLAN

Lecture # Topic to be covered

1 Introduction to Robotics
2 Classification of Robots
3 Advantages and Disadvantages of Robots,
Degrees of freedom
4 Robot coordinates, Robot characteristics,
Robot workspace
5 Robot Components
6 Types of Robot arms
7 Types of End Effectors
8 Types of grippers
9 Gripper design
10 Actuators –Introduction, Pneumatic
actuators
11 Hydraulic actuators, Stepper motors
12 Introduction to sensors
13 Vision systems, Range detectors
14 Force and torque sensors
15 Position sensors
16 Potentiometers
17 Resolvers, Encoders
18 Velocity sensors
19 Laser, acoustic, magnetic, fiber optic
sensors
20 Introduction to transformations
21 Homogeneous transformation
22 Translational transformation
23 Rotational transformation
24 Problems in Homogeneous transformation
25 D-H notation joint coordinates, World
coordinates
26 Problems in manipulator kinematics
27 Trajectory planning and avoidance of
obstacles

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28 Path planning
29 Problems in path planning
30 Robot Cell Layouts
31 Multiple Robots and Machine Interface
32 Some Consideration in Work Cell Design,
Interlocks
33 Mobile work cell
34 Error Detection and Recovery
35 Robot Cycle Time Analysis
36 Robot application in manufacturing-
Introduction
37 Robots in manufacturing
38 Health Service
39 Military Applications, Space Application
40 Entertainment robots, Service robots
41 Domestic or household robots
42 Intelligent Home Applications

QUESTION BANK

S.No. QUESTION BLOOM’S COURSE

TAXONOMY OUTCOME
LEVEL
UNIT-I
1 Explain the following types of automation Understanding
i. Fixed automation
ii. Flexible automation
2 Explain the four basic configurations of robot with a neat Understanding
sketch.
3 Explain the different types of joints used in robots with Understanding
neat sketch.
4 Define a Robot. Discuss the advantages and disadvantages Understanding
of using robots in industry?
5 Explain the concepts repeatability, resolution and accuracy. Understanding I
6 Explain the concepts position and orientation of robot? Understanding
7 Discuss in detail the components of a robot system with a Understanding
neat sketch.
8 Discuss about the classification of a Robot based on control Understanding
systems.
9 Explain the function line diagram of a robot arm. Understanding
10 Explain the following types of grippers with application Understanding
i. Magnetic grippers
ii. Vacuum cups.
11 Explain the various factors in gripper’s selection and Understanding
design.
UNIT - II
1 Give a brief classification of actuators used in robots. Understanding

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2 With a neat sketch explain tactile sensors and range Understanding
sensors.
3 Explain the following hydraulic actuators. Understanding
i. Rotary actuator
ii. Linear actuator.
4 Explain the performance and selection criteria of electric Understanding
motors in robotics.
5 Explain the working principle of DC servo Motor. Discuss Understanding
its merits and demerits.
6 Discuss the working principle of a Resolver. Understanding
7 Describe a suitable type of sensor used to measure position. Understanding
8 Explain a hydraulic drive system used for robots with a neat Understanding
sketch. II
9 Explain the performance and selection criteria of stepper Understanding
motors in robotics.
10 Explain the working principle of velocity sensors with neat Understanding
sketch.
11 Discuss the working principle of a potentiometer. Understanding
12 Explain features and application of pneumatic actuators in Understanding
robotics
13 Discuss the working principle of an encoder. Understanding
14 Explain the constructions and operation of ultrasonic Understanding
proximity sensors.
15 Explain principle and construction of inductive type Understanding
proximity sensors.
16 Explain various types of touch sensors with neat sketch. Understanding
17 Explain features and application of hydraulic actuators in Understanding
robotics
UNIT - III
1 Explain the homogeneous transformation matrix and Understanding
interpret the partitioning with an example.
2 Determine the new coordinates of the point 25i+10j+20k by Application
translation of the point by a distance of 8 units in the
x-direction, 5 units in the y-direction and zero units in the
z-direction.
3 The coordinates of point P in frame 1 are [3 2 1] T. The Application
position vector P is rotated about Z -axis by 450.
Determine the new coordinates of point P.
4 Find the transformation matrices for the following operations Application III
on the point
^ ^ ^
2 i + 8 j+ 3 k
i. Rotate 300 about x-axis and then translate -5 units
along y-axis.
ii. Translate 2 units along y-axis and rotate 600 about z-
axis

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5 For the point A = (6, 2, 4)T perform following operations. Application
i. Rotate 300 about the X axis, followed by translation of 6
units along Y axis.
ii. Translate 6 units along Y axis, followed by rotation of 300
about X axis.
iii. Rotate 600 about Z axis followed by translation of
10 units along the rotated X axis.
6 Explain about the following Understanding
i. Homogeneous coordinates
ii. Homogenous Transformation
7 For the point 3i+7j+5k perform the following operation: Application
Translates 6 units along Y then rotate 300 about X.
8 Compute the homogeneous transformation representing a Application
translation of 3 units along the x-axis followed by a rotating
of π/2 about the current z-axis followed by a translation of 1
unit along the fixed y-axis. Sketch the frame. What are the
coordinates of the O1 with respect to the original frame in
each case.
9 Explain briefly about direct and inverse kinematics. Understanding
10 Write down the homogeneous transformation matrices for the Application
co-ordinate frames situated at the points A, B, and C with
respect to OXoYoZo frame. Write down by inspection and matrix
operation the position and orientation of frame B with respect
to frame C.

11 Discuss the important steps in Denavit-Hartenberg (D-H) Understanding

convention.
12 What is Denavit-Hartenberg notation for assigning frames to Understanding
links and identifying joint link parameters? Discuss
13 Apply D-H convention and determine the final position and Application
orientation of a 2-link planar manipulator.
14 Explain in detail about path planning and trajectory planning. Application
15 Explain the following terms Understanding
i. Trajectory
ii. Joint space trajectory planning.

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16 Explain trajectory planning with respect to PTP robot Understanding
considering modified constant velocity of joint.
17 Explain trajectory planning and show how trajectory planning Application
is done in case of PTP (Point-to-point) robot having constant
maximum velocity and finite acceleration and deceleration.
18 Differentiate between path planning and trajectory planning. Understanding
19 Explain the following Understanding
i) Skew motion ii) Joint integrated motion iii) Straight line
motion
20 A single cubic trajectory is given by θ(t) = 8+10t+45t2+35t3 Application
and is used over the time interval from t =1 to t = 2. What are
the initial and final velocities and accelerations?
21 Explain the steps involved in Trajectory planning of Robots & Understanding
their significance.
22 The path traced by a joint of a robot manipulator is described Application
by the fifth degree polynomial. The joint has to start from an
initial angle of 10o to 20o. The starting acceleration and the
ending deceleration 2 deg/sec2. The velocities being zero, find
the equation of motion for the joint. The range is covered in 2
seconds.
UNIT-IV
1 Explain various types of robot cell layouts with neat sketches. Understanding

2 Describe the multiple robots and Machine Interface Understanding

3 Explain the considerations in Work Cell Design Understanding
4 Explain Error Detection and Recovery in robot control design Understanding
5 Explain Robot Cycle Time Analysis with example Understanding
6 Describe in-line robot work cell design with neat sketch Understanding IV
7 Describe types of transport systems in in-line robot work cell Understanding
and explain with neat sketches
8 Explain Mobile work cell with neat sketch Understanding
9 Explain robot centered work cell with neat sketch Understanding
10 Explain in detail about safety monitoring in work cell design Understanding
11 Explain the concept of interlock and its types Understanding
UNIT-V
1 Discuss the process of automation in inspection. Understanding
2 Explain function of robots in Home Applications. Understanding
3 Explain the application of Robots in the space applications. Understanding
4 Discuss the applications of Robots in the Domestic or Understanding
household applications.
5 Discuss the considerations of Robots in material handling? Understanding
6 Discuss the features of robot in machine loading and Understanding
unloading applications?
7 Explain function of robots in assembly and inspection. Understanding V
8 Explain pick and place robots for machining operation die Understanding
casting and plastic moulding.
9 Explain the application of Robots in the fields of welding and Understanding
painting.

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10 Explain with the neat diagram how Robot can be employed Understanding
in the inspection methods of components made in large
number.
11 Explain various assembly systems configuration. Understanding
12 Explain compliances and remote control compliance device Understanding
for assembly operations.
13 Explain spray painting by robots. Understanding

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