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Sathyabama Institute of Science and Technology B.E. - Mechanical Engineering SMEA3012 Industrial Robotics and Expert Systems Syllabus

SATHYABAMA INSTITUTE OF SCIENCE AND TECHNOLOGY SCHOOL OF MECHANICAL ENGINEERING

SMEA3012 INDUSTRIAL ROBOTICS AND EXPERT SYSTEMS
L T P Credits Total Marks
3 0 0 3 100

UNIT 1 INTRODUCTION AND ROBOTIC KINEMATICS 9 Hrs.
Definition need and scope of industrial robots- Coordinate Systems Classification of Robot- Robot anatomy - work volume -
Precision movement – End effectors - sensors. Robot kinematics – Basics about plane rotation – rotation matrix - Direct and
inverse kinematics - Robot trajectories-Control of robot manipulators - Robot dynamics - Methods for orientation and location
of objects. Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay Load.

UNIT 2 ROBOT DRIVES AND CONTROL 9 Hrs.
Controlling the robot motion - Position and velocity sensing devices - Design of drive systems - Hydraulic and Pneumatic
drives - D.C. Servo Motors, Stepper Motors, A.C. Servo Motors Linear and rotary actuators and control valves –Electro
hydraulic servo valves, electric drives - Motors –Selection of Drives- designing of end effectors - Vacuum, magnetic and air
operated grippers.

UNIT 3 ROBOT PATH PLANNING AND IMAGE PROCESSING 9 Hrs.
Introduction-Path planning overview- Road map path planning- Cell decomposition path planning-Potential field path
planning-Obstacle avoidance- Robotic vision system - Image Gripping - Image processing and analysis - Image
segmentation – Pattern recognition - Training of vision system.

UNIT 4 ROBOT CELL DESIGN AND FIELD ROBOTS 9 Hrs.
Robot work cell design and control - Safety in Robotics - Robot cell layouts - Multiple robots and machine interference -
Robot cycle time analysis - Ariel robots- Collision avoidance-Robots for agriculture, mining, exploration, underwater, civilian
and military applications, nuclear applications, Space applications.

UNIT 5 ROBOT PROGRAMMING, ARTIFICIAL INTELLIGENCE AND EXPERT SYSTEMS 9 Hrs.
Methods of robot programming - characteristics of task level languages lead through programming methods-Motion
interpolation. Artificial intelligence - Basics - Goals of artificial Intelligence - AI techniques – problems representation in AIProblem
reduction and solution techniques - Application of AI. Elements of Knowledge Representation -Logic, Production
Systems, Semantic Networks, Expert Systems Knowledge Building Environment Systems (KBES)-Humanoids.
Max. 45 Hrs.

COURSE OUTCOMES
On completion of the course, student will be able to
CO1 - Recall fundamental Concepts of Robots and Kinematics.
CO2 - Implement Drives concepts in End effectors.
CO3 - Analyze and design Path planning and Image processing.
CO4 - Design robot work cell for automation industries.
CO5 - Apply the knowledge about robot programming methods.
CO6 - Apply the concepts of AI and expert systems.

TEXT / REFERENCE BOOKS
1. K.S.Fu, R.CGonzalez and C.S.G. Lee, Robotics control, Sensing, Vision and intelligence", McGraw Hill,1994.
2. Kozyrey, Yu, "Industrial Robotics”, MIR Publishers Moscow, 1998.
3. Richard.D.,Klafter, Thomas.A, Chmielewski, Machine Negin "Robotics Engineering-An Integrated Approach", Prentice
Hall of India, 1984.
4. Deb, S.R. "Robotics Technology and Flexible Automation”, Tata McGraw Hill, 1994.
5. Mikell,P.Groover, Mitchell Weis, Roger N.Nagel, Nicholas Odrey "Industrial Robotics Technology, Programming and
Applications”, McGraw Hill, Int., 1986.
6. Timothy Jordonidesetal,"Expert Systems and Robotics", Springer-Verlag, New York, May 1991.

END SEMESTER EXAMINATION QUESTION PAPER PATTERN
Max. Marks: 100 Exam Duration: 3 Hrs.
PART A: 10 Questions of 2 marks each – No choice 20 Marks
PART B: 2 Questions from each unit of internal choice, each carrying 16 marks 80 Marks