EC6003 ROBOTICS AND AUTOMATION AUTOMATION SYLLABUS OBJECTIVES: •
To study the various parts of robots and fields of robotics.
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To study the various kinematics and inverse kinematics of robots.
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To study the Euler, Lagrangian formulation of Robot dynamics.
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To study the trajectory planning for robot.
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To study the control of robots for some specific applications.
UNIT I BASIC CONCEPTS
Definition and origin of robotics – different types of robotics – various generations of robots robots – degrees degrees of freedom freedom – simov s la!s of robotic robotics s – dynamic dynamic stabili" stabili"atio ation n of robots. ‟
UNIT II POWER SOURCES AND SENSORS
#ydraulic, pneumatic and electric drives – determination of #$ of motor and gearing ratio – variable speed arrangements – path determination determination – micro machines in robotics – machine machine vision – ranging – laser – acoustic – magnetic, magnetic, fiber optic and and tactile sensors. sensors. UNIT III MANIPULATORS, ACTUATORS AND GRIPPERS
%onstruction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – & various types of grippers – design considerations. UNIT IV KINEMATICS AND PATH PLANNING
'olution of inverse kinematics problem – multiple solution jacobian !ork envelop – hill %limbing Techni(ues – robot programming languages UNIT V CASE STUDIES
)utiple robots – machine interface – robots in manufacturing and non* manufacturing applications – robot cell design – selection of robot. TOTAL: 45 PERIODS OUTCOMES:
&pon completion of the course, the student should be able to+ Eplain the basic concepts of !orking of robot
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naly"e the function of sensors in the robot -rite program to use a robot for a typical application &se Robots in different applications
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TEXT BOOKS:
. )ikell $. -eiss /.)., 0agel R.0., 1draj 0./., 23ndustrial Robotics4, )c /ra!*#ill 'ingapore, 556. 7. /hosh, %ontrol in Robotics and utomation+ 'ensor 8ased 3ntegration, llied $ublishers, %hennai,559. REFERENCES:
. Deb. '.R.,2Robotics Technology and fleible utomation4, :ohn -iley, &' 557. 7. ;lafter R.D., %himiele!ski T.., 0egin )., 2Robotic Engineering – n integrated approach4, $rentice #all of 3ndia, 0e! Delhi, 55<. =. )c ;erro! $.:. 23ntroduction to Robotics4, ddison -esley, &', 55. <. 3ssac simov 2Robot4, 8allantine 8ooks, 0e! >ork, 596. ?. 8arry Leatham * :ones, @Elements of industrial Robotics@ $3T)0 $ublishing, 59A. 6. )ikell $./roover, )itchell -eiss, Roger 0.0agel 0icholas /.1drey, @3ndustrial Robotics Technology, $rogramming and pplications @, )c/ra! #ill 8ook %ompany 596. A. Bu ;.'. /on"alea" R.%. and Lee %.'./., @Robotics %ontrol 'ensing, Cision and 3ntelligence@ )c/ra! #ill 3nternational Editions, 59A. Course Code: ECE – S507 Breaku: 3 ! 0 " Course Na#e : I$%or#a&'o$ T(eor) A$d Cod'$* Course De&a'+s: UNIT I Sour,e Cod'$*: Introduction to Information Theory, Uncertainty and Information, Average Mutual Information and Entropy, Information Measures for Continuous Random Variables, ource Coding Theorem, !uffman Coding, The "empel# $iv Algorithm, Rate %istortion &unction, 'ptimum (uanti)er %esign, UNIT II C(a$$e+ Caa,'&) a$d Cod'$*: Introduction, Channel Models, Channel Capacity, Channel Coding, Information Capacity Theorem The hannon "imit, Random election of Codes, UNITIII L'$ear B+o,k Codes %or Error Corre,&'o$: Introduction to Error Correcting Codes, *asic %efinitions, Matri+ %escription of "inear *loc Codes, E-uivalent Codes, .arity Chec Matri+, %ecoding of a "inear *loc Code, yndrome %ecoding, Error .robability after Coding /.robability of Error Correction0, .erfect Codes !amming Codes, 'ptimal "inear Codes, Cyclic Codes, Introduction to Cyclic Codes, .olynomials The %ivision Algorithm for .olynomials, A Method for 1enerating Cyclic Codes, Matri+ %escription of Cyclic Codes, &ire Code, 1olay Codes, Cyclic Redundancy Chec /CRC0 Codes Introduction to *C! Codes, .rimitive Elements, Minimal .olynomials, 1enerator .olynomials in Terms of Minimal .olynomials, ome E+amples of *C! Codes, %ecoding of
*C! Codes Reed#olomon Codes, Implementation of Reed#olomon Encoders and %ecoders 2ested Codes,
UNIT ICo$.o+u&'o$a+ Codes: Introduction to Convolutional Codes, Tree Codes and Trellis Codes, .olynomial %escription of Convolutional Codes /Analytical Representation0, 2otions for Convolutional Codes, The 1enerating &unction, Matri+ %escription of Convolutional Codes, Veterbi %ecoding of Convolutional Codes, %istance *ounds for Convolutional Codes, .erformance *ounds, 3no4n 1ood Convolutional Codes, Turbo Codes, Turbo %ecoding 56789: C, Concluding Remars 5;;89< .o UNIT Tre++'s Codes Modu+a&'o$: Introduction to TCM, The concept of Coded Modulation, Mapping by et .artitioning, Ungerboec=s TCM %esign Rules, TCM %ecoder, .erformance Evaluation for A>12 Channel, Computation of dfree, TCM for &ading Channel Te/& Books: 98 *ose, Ran?an @ Information Theory, Coding B Cryptography @ Tata Mc1ra4 !ill @ Re%ere$,e Books: 98 Van "int D8!8@ Introduction to Coding Theory @ pringer 78 .roais, Dohn 18 @ %igital Communications @ Mc1ra4 !ill 8 athyanarayana, .88 @ .robability Information and Coding Theory@ %ynaram .ublications, *angalore
