CI 9221 ROBOTICS AND ARTIFICIAL INTELLIGENCE SYLLABUS | ANNA UNIVERSITY ME COMPUTER INTEGRATED MANUFACTURING 2nd Semester SYLLABUS REGULATION 2009 2011 2012-2013 BELOW IS THE ANNA UNIVERSITY M.E COMPUTER INTEGRATED MANUFACTURING DEPARTMENT 2nd Sem 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 2010
CI 9221 ROBOTICS AND ARTIFICIAL INTELLIGENCE L T P C
3 0 0 3 AIM:
This course aims at providing advanced knowledge in the field of Industrial
Robotics and the associated artificial intelligence.
OBJECTIVE :
On completion of the course the students are expect to the knowledgeable in Robot
anatomy, end effectors, sensors, vision systems, kinematics,
programming and the application of Artificial Intelligence in Robotics And Artificial
Intelligence.
UNIT I INTRODUCTION: 7
Historical Perspective of Robots – Classification by Co-Ordinate system –
classification by control method, Major Components of a Robot – Links and joints –
Currents and future applications of Robots.
UNIT II ROBOT END EFFECT AND SENSORS: 11
Robot End effect and sensors – Grippers – Mechanical, Vacuum, Magnetic Grippers
– Drives, Robot Sensors and Controllers – Internal and External Sensors – Non
Optical and Optical position sensors – Encodes – Velocity, Acceleration, force,
Torque, Proximity touch and slip sensors. Robot Vision – Imaging Components,
Image representation Picture wading, Object recognition and categorization software.
UNIT III ROBOT ACTUATORS 9
Control of actuators in Robots – Robot control Architecture – closed Loop control –
effect of friction and gravity – Frequency domain – Robot Joint Control – Adaptive
control stepper Motors – Brushless DC Motors – Direct drive actuators, Hydraulic and
pneumatic and Actuators – Servo Amplifiers.
UNIT IV TRANSFORMATIONS AND KINEMATICS 8
Translational and Rotational Transformations – Co-Ordinate reference Framer –
Homogeneous Transformations – Forward solution – Inverse solution.
UNIT V ROBOT PROGRAMMING & ARTIFICIAL INTELLIGENCE 10
Robot Programming Languages – characteristics of Languages – Position
Specification – Motion Specification. Robot Program synthesis – Programming
solution using VAL Robot programming Language ,Artificial Intelligence - search
strategies ,Heuristic search , Rule based problem solving , Knowledge
Representation .
TOTAL: 45 PERIODS
TEXT BOOK:
1. R.D.Klafter , Chemieleskio, T.A.and negin .m ., “Robotics Engineering an
Integrated approach”, Prentice Hall , 1989.
REFERENCES:
1. K.S.FU, R.C. Gonzalez, and C.S.G.Lee., “Robotics control , Sensing, Vision ,and
Intelligence” , Prentice Hall , 1987.
2. G.Bekey, Autonomous Robots, MIT Press, 2005.
3. J.J.Craig, “Introduction to Robotics”Addision Wesley Publishers, 2005.
4. M. Nagenevtsky, Artificial Intelligence –a guide to intelligent systems addision –
Wesley , 2005, Chapters 2,4,7.
CI 9221 ROBOTICS AND ARTIFICIAL INTELLIGENCE L T P C
3 0 0 3 AIM:
This course aims at providing advanced knowledge in the field of Industrial
Robotics and the associated artificial intelligence.
OBJECTIVE :
On completion of the course the students are expect to the knowledgeable in Robot
anatomy, end effectors, sensors, vision systems, kinematics,
programming and the application of Artificial Intelligence in Robotics And Artificial
Intelligence.
UNIT I INTRODUCTION: 7
Historical Perspective of Robots – Classification by Co-Ordinate system –
classification by control method, Major Components of a Robot – Links and joints –
Currents and future applications of Robots.
UNIT II ROBOT END EFFECT AND SENSORS: 11
Robot End effect and sensors – Grippers – Mechanical, Vacuum, Magnetic Grippers
– Drives, Robot Sensors and Controllers – Internal and External Sensors – Non
Optical and Optical position sensors – Encodes – Velocity, Acceleration, force,
Torque, Proximity touch and slip sensors. Robot Vision – Imaging Components,
Image representation Picture wading, Object recognition and categorization software.
UNIT III ROBOT ACTUATORS 9
Control of actuators in Robots – Robot control Architecture – closed Loop control –
effect of friction and gravity – Frequency domain – Robot Joint Control – Adaptive
control stepper Motors – Brushless DC Motors – Direct drive actuators, Hydraulic and
pneumatic and Actuators – Servo Amplifiers.
UNIT IV TRANSFORMATIONS AND KINEMATICS 8
Translational and Rotational Transformations – Co-Ordinate reference Framer –
Homogeneous Transformations – Forward solution – Inverse solution.
UNIT V ROBOT PROGRAMMING & ARTIFICIAL INTELLIGENCE 10
Robot Programming Languages – characteristics of Languages – Position
Specification – Motion Specification. Robot Program synthesis – Programming
solution using VAL Robot programming Language ,Artificial Intelligence - search
strategies ,Heuristic search , Rule based problem solving , Knowledge
Representation .
TOTAL: 45 PERIODS
TEXT BOOK:
1. R.D.Klafter , Chemieleskio, T.A.and negin .m ., “Robotics Engineering an
Integrated approach”, Prentice Hall , 1989.
REFERENCES:
1. K.S.FU, R.C. Gonzalez, and C.S.G.Lee., “Robotics control , Sensing, Vision ,and
Intelligence” , Prentice Hall , 1987.
2. G.Bekey, Autonomous Robots, MIT Press, 2005.
3. J.J.Craig, “Introduction to Robotics”Addision Wesley Publishers, 2005.
4. M. Nagenevtsky, Artificial Intelligence –a guide to intelligent systems addision –
Wesley , 2005, Chapters 2,4,7.
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