ELECTRICAL AND ELECTRONICS

CODE COURSE NAME CATEGORY L T P CREDIT

EET414 ROBOTICS PEC 2 1 0 3

Preamble: This course provides an introduction to the robots types, Configurations and
application; Coordinate frames and types, Transformations and types; Forward and Inverse
Kinematics of manipulator’s; all types of robotic sensors; Open loop and closed loop control
systems

Prerequisite: NIL

Course Outcomes: After the completion of the course the student will be able to

CO 1 Identify the anatomy and specifications of robots for typical application

CO 2 Select the appropriate sensors and actuators for robots

CO 3 Identify robotic configuration and gripper for a particular application

CO 4 Solve forward and inverse kinematics of robotic manipulators

CO 5 Plan trajectories in joint space and Cartesian space

CO 6 Develop the dynamic model of a given robotic manipulator and its control strategy

Mapping of course outcomes with program outcomes

PO PO PO PO PO PO PO PO PO
PO 10 PO 11 PO 12
1 2 3 4 5 6 7 8 9

CO 1 2 1 2

CO 2 2 1 2

CO 3 2 1 2 2

CO 4 3 3 3 2

CO 5 3 3 3 2

CO 6 3 3 3 2

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Assessment Pattern

Bloom’s Category Continuous Assessment Tests

End Semester Examination
1 2

Remember 10 10 20

Understand 20 20 40

Apply 20 20 40

Analyse

Evaluate

Create

Mark distribution

Total Marks CIE ESE ESE Duration

150 50 100 3 hours

Continuous Internal Evaluation Pattern:

Attendance : 10 marks

Continuous Assessment Test (2 numbers) : 25 marks

Assignment/Quiz/Course project : 15 marks

End Semester Examination Pattern: There will be two parts; Part A and Part B. Part A contain
10 questions with 2 questions from each module, having 3 marks for each question. Students
should answer all questions. Part B contains 2 questions from each module of which student
should answer any one. Each question can have a maximum 2 subdivisions and carry 14 marks.

Course Level Assessment Questions

Course Outcome 1 (CO1):

1. Explain the anatomy of a robot which is used for pick and place tasks. (K2, PO1, PO12)
2. What are the specifications of a typical spray painting robot? (DOF, specialties, control
method etc.) (K1, PO2, PO12)

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3. Which control method is used for a spot welding robot? (Continuous path control or point
to point control) (K2, PO2, PO12)

Course Outcome 2 (CO2):

1. Choose a sensor as per robotic application.(K2, PO1, PO12)

2. Describe the functional differences of stepper motors and ac motors.(K1, PO1, PO12)
3. Pneumatic actuators are not suitable for heavy loads under precise control. Justify it.(K2,
PO1, PO2, PO12)

Course Outcome 3 (CO3):

1. Explain the features of SCARA, PUMA Robots?(K1, PO1, PO12)

2. What are the different classification of robots based on motion control methods and drive
technologies? Explain(K1, PO1, PO2, PO12)
3. What are the factors affecting the selection of grippers?(K1, PO1, PO3, PO12)

Course Outcome 4 (CO4):

1. What do you mean by forward kinematics?(K1, PO1, PO2, PO12)

2. Explain the inverse kinematics of robots.(K1, PO1, PO3, PO12)
3. What are the different coordinate systems used by industrial robots?(K1, PO1, PO3,
PO12)

Course Outcome 5 (CO5):

1. Explain about planning the trajectory in Cartesian space and Joint space for robotic
manipulators.(K1, PO1, PO2, PO12)
2. Explain about the third order polynomial trajectory planning in Joint space.(K1, PO1,
PO2, PO12)
3. A two-degree-of-freedom planar robot is to follow a straight line in Cartesian space
between the start (2,6) and the end (12,3) points of the motion segment. Find the joint
variables for the robot if the path is divided into 10 segments. Each link is 9 inches
long.(K2, PO1, PO3, PO12)

Course Outcome 6 (CO6):

1. Obtain the dynamic model of 1 DOF robot.(K2, PO1, PO2, PO12)

2. Explain the steps to design a PID controller for a single link manipulator.(K2, PO1, PO3,
PO12)
3. Write short note on computed torque control.(K1, PO1, PO2, PO12)

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Model Question Paper

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY

EIGHTH SEMESTER B.TECH. DEGREE EXAMINATION

Course Code: EET414

Course Name: ROBOTICS

Max. Marks: 100 Duration: 3 Hours

PART A

Answer all questions, each carries 3 marks. Marks

1 Define reach and stroke of a robotic manipulator. (3 )

2 What are the characteristics of a spot welding robot? (3 )

3 A strain gauge of gauge factor 2 and resistance of the unreformed wire (3 )

100 Ω is used to measure the acceleration of an object of mass 3kg. If
the strain is 10-6, cross sectional area=10mm2 and Young’s modulus =6.9
x 10-10 N/m2, compute the acceleration of the object.

4 Compare hydraulic and pneumatic actuators. ( 3)

5 Explain the features of a SCARA robot. ( 3)

6 What are the advantages and disadvantages of a pneumatic gripper? ( 3)

7 If a point 𝑃 = [3 0 − 1 1 ] , find the new location of the point P, if it is (3)

rotated by π about the z-axis of the fixed frame and then translated by 3
units along the y-axis.

8 How will you compute the end effector position and orientation of a (3)
robotic arm?

9 What is the necessity of dynamic modelling of robotic manipulators? (3)

10 Is a robotic system linear or nonlinear? Justify your answer. (3)

PART B

Answer any one full question from each module, each carries 14 marks.

MODULE1

11 a) Explain in detail the specifications of a robotic manipulator. (10)

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b) What is the typical anatomy of a robotic manipulator? (8)

12 a) Explain in detail any two industrial applications of Robots. (10)

b) Compare point to point control and continuous path control. (4)

MODULE II

13 a) How will you choose an appropriate sensor for a robotic application? (8 )

b) Mention the applications of vision sensor (6)

14 a) Outline the method of varying position using servo motor and stepper (8)
motor.

b) Explain the working of a typical hydraulic actuator. (6)

MODULE III

15 a) Explain in detail all robotic configurations. (14)

16 a) Describe the types of end effector & gripper mechanisms with simple (14)
sketches

MODULE IV

17 a) Obtain the forward kinematic model of the following robot (14)

18 a) The second joint of a SCARA robot has to move from 150 to 450 in 3 (8)
sec. Find the coefficients of the cubic polynomial to interpolate a
smooth trajectory. Also obtain the position, velocity and acceleration
profiles

b) How will you plan a straight line trajectory in Cartesian space? (6)

MODULE V

19 a) Obtain the dynamic model of 1 DOF robot operated by electric motor. (8)

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b) How will you build a servo controlled robotic arm? (6)

20 a) Describe the schematic of PID controlled robotic manipulator and derive (10)
the closed loop transfer function. Explain how gains are computed for
the PID controller?

b) Comment on the stability of the above controller (4)

*********************

SYLLABUS

Module 1

Definitions- Robots, Robotics; Types of Robots- Manipulators, Mobile Robots-wheeled &

Legged Robots, Aerial Robots; Anatomy of a robotic manipulator-links, joints, actuators,
sensors, controller; open kinematic vs closed kinematic chain; degrees of freedom; Robot
considerations for an application- number of axes, work volume, capacity & speed, stroke &
reach, Repeatability, Precision and Accuracy, Operating environment, point to point control or
continuous path control.

Robot Applications- medical, mining, space, defence, security, domestic, entertainment,

Industrial Applications-Material handling, welding, Spray painting, Machining.

Case study- anatomy and specifications of a typical material handling robot

Module 2

Sensors and Actuators

Sensor classification- Touch, force, proximity, vision sensors.

Internal sensors-Position sensors, velocity sensors, acceleration sensors, Force sensors; External
sensors-contact type, non-contact type; Vision - Elements of vision sensor, image acquisition,
image processing; Selection of sensors.

Actuators for robots- classification-Electric, Hydraulic, Pneumatic actuators; their advantages

and disadvantages; Electric actuators- Stepper motors, DC motors, DC servo motors and their
drivers, AC motors, Linear actuators, selection of motors; Hydraulic actuators- Components and
typical circuit, advantages and disadvantages; Pneumatic Actuators- Components and typical
circuit, advantages and disadvantages.

Case study- sensors and actuators needed for a differential drive robot which is capable of
autonomous navigation, study of sensors and actuators for an autonomous pick and place robot

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Module 3

Robotic configurations and end effectors

Robot configurations-PPP, RPP, RRP, RRR; features of SCARA, PUMA Robots;

Classification of robots based on motion control methods and drive technologies; 3R concurrent
wrist;

Classification of End effectors - mechanical grippers, special tools, Magnetic grippers, Vacuum
grippers, adhesive grippers, Active and passive grippers, factors affecting selection of grippers.

Case study- typical robotic configuration for a pick and place robot capable picking objects from
a moving conveyor

Module 4

Kinematics and Motion Planning

Robot Coordinate Systems- Fundamental and composite rotations, homogeneous coordinates and
transformations, Kinematic parameters, D-H representation, Direct Kinematics. The Arm
equation- forward and inverse Kinematics of typical robots upto 3 DOF.

Motion Planning- joint space trajectory planning-cubic polynomial, linear trajectory with
parabolic blends; Cartesian space planning, Point to point vs continuous path planning.

Case study- Obtain the joint profiles of a 2 DOF planar manipulator, if the end effector is
moving through an arc.

Module 5

Dynamics and Control of Robots

Dynamics- Dynamic model of a robot using Lagrange’s equation, dynamic modelling of 1 DOF
robot.

Control Techniques- Transfer function and state space representation, Performance and stability
of feedback control, PID control of a single link manipulator, selection of PID controller gains;
nonlinear nature of manipulators, and need for nonlinear control techniques, Computed torque
control.

Case study: Closed loop PID control a typical 2 DOF planar robotic manipulator

Case Studies/Assignments: Any of the three case studies can be given as assignments.

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Text Books

1. Introduction to Robotics by S K Saha, Mc Graw Hill Eduaction

2. Robert. J. Schilling, “Fundamentals of robotics – Analysis and control”, Prentice
Hall of India 1996.
3. R K Mittal and I J Nagrath, “Robotics and Control”, Tata McGraw Hill, New Delhi,
2003.
4. Introduction to Robotics (Mechanics and control), John. J. Craig, Pearson Education
Asia 2002.
5. Ashitava Ghosal, “Robotics-Fundamental concepts and analysis”, Oxford University
press.

6. Robotics Technology and Flexible Automation, Second Edition, S. R. Deb.

7. Introduction to Robotics, Saeed B. Nikku, Pearson Education, 2001.

8. Rachid Manseur, ‘Robot Modeling and Kinematics’, Lakshmi publications, 2009.

Reference Books
1. D Roy Choudhury and shaail B. jain, ‘Linear Integrated circuits’, New age
international Pvt.Ltd 2003
2. Boltans w. ”Mechatronics” Pearson Education , 2009

Course Contents and Lecture Schedule

No Topic No. of Lectures

1 Introduction

Definitions- Robots, Robotics; Types of Robots- Manipulators,

1.1 1
Mobile Robots-wheeled & Legged Robots, Aerial Robots;

Anatomy of a robotic manipulator-links, joints, actuators,

1.2 sensors, controller; open kinematic vs closed kinematic chain; 1
degrees of freedom;

Robot considerations for an application- number of axes, work

volume, capacity & speed, stroke & reach, Repeatability,
1.3 1
Precision and Accuracy, Operating environment, point to point
control or continuous path control.

Robot Applications- medical, mining, space, defence, security,

1.4 1
domestic, entertainment

Industrial Applications-Material handling, welding, Spray

1.5 1
painting, Machining.

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2 Sensors and Actuators

2.1 Sensor classification- touch, force, proximity, vision sensors 1

Internal sensors-Position sensors, velocity sensors, acceleration

2.2 1
sensors, Force sensors;

2.3 External sensors-contact type, non-contact type; 1

Vision-Elements of vision sensor, image acquisition, image

2.4 1
processing; Selection of sensors.

Actuators for robots- classification-Electric, Hydraulic,

Pneumatic actuators; their advantages and disadvantages;
2.5 Electric actuators- Stepper motors, DC motors, DC servo 2
motors and their drivers, AC motors, Linear actuators, selection
of motors;

Hydraulic actuators- Components and typical circuit,

2.6 advantages and disadvantages; Pneumatic Actuators- 2
Components and typical circuit, advantages and disadvantages.

3 Robotic configurations and end effectors

Robot configurations-PPP, RPP, RRP, RRR; features of

3.1 2
SCARA, PUMA Robots

Classification of robots based on motion control methods and

3.2 2
drive technologies; 3R concurrent wrist;

Classification of End effectors - mechanical grippers, special

tools, Magnetic grippers, Vacuum grippers, adhesive grippers,
3.3 3
Active and passive grippers, factors affecting selection of
grippers.

4 Kinematics and Motion Planning

Robot Coordinate Systems- Fundamental and composite

4.1 rotations, homogeneous coordinates and transformations. 2

Kinematic parameters, D-H representation, Direct Kinematics.

4.2 The Arm equation- forward Kinematic analysis of a typical 4
robots up to 3 DOF.

Motion Planning- joint space trajectory planning-cubic

4.3 polynomial, linear trajectory with parabolic blends; Cartesian 2
space planning, Point to point vs continuous path planning.

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5 Dynamics and Control of Robots

Dynamics- Dynamic model of a robot using Lagrange’s

5.1 2
equation, dynamic modelling of 1 DOF robot

Control Techniques- Transfer function and state space

5.2 3
representation, Performance and stability of feedback control.

PID control of a single link manipulator, selection of PID

5.3 controller gains; nonlinear nature of manipulators, and need for 2
nonlinear control techniques, Computed torque control.

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