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ME762: INTRODUCTION TO ROBOTICS (Semester I : 2022 -2023)

1. Objectives:

a) Introduction to robotics and automation.

b) Basic understanding of transformations, joints and robot manipulator
structures
c) Detailed manipulator kinematics – forward and inverse
d) Velocity kinematics and singularity
e) Dynamics of 2 DOF manipulators
f) Linear control methods
g) Robot programming in VAL II
h) Computer Vision
i) Industrial applications

2. Prerequisites: Basic engineering mathematics, basic mechanical and electrical

engineering.

3. Course content:

a. Introduction to robotics-origin of automation, different types of joints,

Classification of robots, Work volume, Rotation and translation of
vectors. (2 hrs)
b. Transformations and Euler angle representations, Homogenous
transformations, Problems. (5 Hrs)
c. Forward kinematics, Inverse kinematics. Problems. (6 Hrs)
d. Velocity kinematics and Jacobian, Statics, singularity and Manipulation
ability. (2 Hrs)
e. Trajectory planning (2 hrs)
f. Actuators, Velocity and position sensors. Range, proximity, touch
sensors. (5 hrs)
g. Force, torque sensors. (3 hrs)
h. Control basics, Linear control basics, Model based control. (4 hrs)
i. Force control, Impedance control, Hybrid control (3 hrs)
j. Basic manipulator design concepts, (1)
k. Robot Programming - VAL II (2)
l. Computer Vision (3)
m. Practical applications (2)

4. Special Emphasis:
Use of MATLAB for analysis and assignments.

5. Lecture, Tutorial & Lab Schedule & Venue

Lecture M/Th 9:00 to 10:15 am in L2

6. Office Hours: recommended mode of contact

Saturday morning in Centre for Mechatronics
NL312, Dept. of Mechanical Engineering
(Preferably not by email)

7. Evaluation Components & Policies: Exams, Assignments, Attendance,

Participation etc.
Exam : Mid Sem (35%), End Sem (50%) compulsory, Assignments (15 %)
END SEM EXAM IS COMPULSORY (if you don’t write end sem you would
be getting an ‘F’ grade automatically)

8. Course Policies:
Attendance 75 % (bio metric attendance would be taken).
 Late assignments will not be accepted.

9. Books & References:

a) Introduction to Robotics: John Craig, Pearson India (Transformations,

kinematics, control.)
b) Robotics Engineering: Richard Klafter, et al. PHI India (sensors and
actuators).
c) Industrial Robotics: Michel P. Grover, et al ….. Mc Graw Hill India. (Robot
programming)