ED 9258 INDUSTRIAL ROBOTICS AND EXPERT SYSTEMS SYLLABUS | ANNA UNIVERSITY ME CAD/CAM 1ST SEM SYLLABUS REGULATION 2009 2011 2012-2013 BELOW IS THE ANNA UNIVERSITY FIRST SEMESTER M.E CAD/CAM DEPARTMENT SYLLABUS, TEXTBOOKS, REFERENCE BOOKS,EXAM PORTIONS,QUESTION BANK,PREVIOUS YEAR QUESTION PAPERS,MODEL QUESTION PAPERS, CLASS NOTES, IMPORTANT 2 MARKS, 8 MARKS, 16 MARKS TOPICS. IT IS APPLICABLE FOR ALL STUDENTS ADMITTED IN THE YEAR 2011 2012-2013 (ANNA UNIVERSITY CHENNAI,TRICHY,MADURAI,TIRUNELVELI,COIMBATORE), 2009 REGULATION OF ANNA UNIVERSITY CHENNAI AND STUDENTS ADMITTED IN ANNA UNIVERSITY CHENNAI DURING 2009
ED 9258 INDUSTRIAL ROBOTICS AND EXPERT SYSTEMS L T P C
3 0 0 3
UNIT I INTRODUCTION AND ROBOT KINEMATICS 10
Definition need and scope of Industrial robots – Robot anatomy – Work volume –
Precision movement – End effectors – Sensors. Robot Kinematics – Direct and inverse
kinematics – Robot trajectories – Control of robot manipulators – Robot dynamics –
Methods for orientation and location of objects.
UNIT II ROBOT DRIVES AND CONTROL 9
Controlling the Robot motion – Position and velocity sensing devices – Design of drive
systems – Hydraulic and Pneumatic drives – Linear and rotary actuators and control
valves – Electro hydraulic servo valves, electric drives – Motors – Designing of end
effectors – Vacuum, magnetic and air operated grippers.
UNIT III ROBOT SENSORS 9
Transducers and Sensors – Tactile sensor – Proximity and range sensors – Sensing joint
forces – Robotic vision system – Image Representation - Image Grabbing –Image
processing and analysis – Edge Enhancement – Contrast Stretching – Band Rationing -
Image segmentation – Pattern recognition – Training of vision system.
24
UNIT IV ROBOT CELL DESIGN AND APPLICATION 9
Robot work cell design and control – Safety in Robotics – Robot cell layouts – Multiple
Robots and machine interference – Robot cycle time analysis. Industrial application of
robots.
UNIT V ROBOT PROGRAMMING, ARTIFICIAL INTELLIGENCE AND EXPERT
SYSTEMS 8
Methods of Robot Programming – Characteristics of task level languages lead through
programming methods – Motion interpolation. Artificial intelligence – Basics – Goals of
artificial intelligence – AI techniques – problem representation in AI – Problem reduction
and solution techniques - Application of AI and KBES in Robots.
TOTAL: 45 PERIODS
TEXT BOOK:
1. K.S.Fu, R.C. Gonzalez and C.S.G. Lee, “Robotics Control, Sensing, Vision and
Intelligence”, Mc Graw Hill, 1987.
REFERENCES:
1. Yoram Koren,” Robotics for Engineers’ Mc Graw-Hill, 1987.
2. Kozyrey, Yu. “Industrial Robots”, MIR Publishers Moscow, 1985.
3. Richard. D, Klafter, Thomas, A, Chmielewski, Michael Negin, “Robotics Engineering
– An Integrated Approach”, Prentice-Hall of India Pvt. Ltd., 1984.
4. Deb, S.R.” Robotics Technology and Flexible Automation”, Tata Mc Graw-Hill, 1994.
5. Mikell, P. Groover, Mitchell Weis, Roger, N. Nagel, Nicholas G. Odrey,” Industrial
Robotics Technology, Programming and Applications”, Mc Graw-Hill, Int. 1986.
6. Timothy Jordanides et al ,”Expert Systems and Robotics “, Springer –Verlag, New
York, May 1991.
ED 9258 INDUSTRIAL ROBOTICS AND EXPERT SYSTEMS L T P C
3 0 0 3
UNIT I INTRODUCTION AND ROBOT KINEMATICS 10
Definition need and scope of Industrial robots – Robot anatomy – Work volume –
Precision movement – End effectors – Sensors. Robot Kinematics – Direct and inverse
kinematics – Robot trajectories – Control of robot manipulators – Robot dynamics –
Methods for orientation and location of objects.
UNIT II ROBOT DRIVES AND CONTROL 9
Controlling the Robot motion – Position and velocity sensing devices – Design of drive
systems – Hydraulic and Pneumatic drives – Linear and rotary actuators and control
valves – Electro hydraulic servo valves, electric drives – Motors – Designing of end
effectors – Vacuum, magnetic and air operated grippers.
UNIT III ROBOT SENSORS 9
Transducers and Sensors – Tactile sensor – Proximity and range sensors – Sensing joint
forces – Robotic vision system – Image Representation - Image Grabbing –Image
processing and analysis – Edge Enhancement – Contrast Stretching – Band Rationing -
Image segmentation – Pattern recognition – Training of vision system.
24
UNIT IV ROBOT CELL DESIGN AND APPLICATION 9
Robot work cell design and control – Safety in Robotics – Robot cell layouts – Multiple
Robots and machine interference – Robot cycle time analysis. Industrial application of
robots.
UNIT V ROBOT PROGRAMMING, ARTIFICIAL INTELLIGENCE AND EXPERT
SYSTEMS 8
Methods of Robot Programming – Characteristics of task level languages lead through
programming methods – Motion interpolation. Artificial intelligence – Basics – Goals of
artificial intelligence – AI techniques – problem representation in AI – Problem reduction
and solution techniques - Application of AI and KBES in Robots.
TOTAL: 45 PERIODS
TEXT BOOK:
1. K.S.Fu, R.C. Gonzalez and C.S.G. Lee, “Robotics Control, Sensing, Vision and
Intelligence”, Mc Graw Hill, 1987.
REFERENCES:
1. Yoram Koren,” Robotics for Engineers’ Mc Graw-Hill, 1987.
2. Kozyrey, Yu. “Industrial Robots”, MIR Publishers Moscow, 1985.
3. Richard. D, Klafter, Thomas, A, Chmielewski, Michael Negin, “Robotics Engineering
– An Integrated Approach”, Prentice-Hall of India Pvt. Ltd., 1984.
4. Deb, S.R.” Robotics Technology and Flexible Automation”, Tata Mc Graw-Hill, 1994.
5. Mikell, P. Groover, Mitchell Weis, Roger, N. Nagel, Nicholas G. Odrey,” Industrial
Robotics Technology, Programming and Applications”, Mc Graw-Hill, Int. 1986.
6. Timothy Jordanides et al ,”Expert Systems and Robotics “, Springer –Verlag, New
York, May 1991.
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