| October 13th, 2020 03:03 PM | |
| prince karak | Sathyabama Institute of Science and Technology B.E. - Automobile Engineering SMEA3012 Industrial Robotics and Expert Systems Syllabus Sathyabama Institute of Science and Technology B.E. - Automobile Engineering SMEA3012 Industrial Robotics and Expert Systems Syllabus SATHYABAMA INSTITUTE OF SCIENCE AND TECHNOLOGY SMEA3012 INDUSTRIAL ROBOTICS AND EXPERT SYSTEMS UNIT 1 INTRODUCTION AND ROBOTIC KINEMATICS 9 Hs. 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 & 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 - Describe 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 - Understand the robot programming methods CO6 - Understand 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. 7. Ashitave Ghosal “Robotics – Fundamental concepts and Analysis” Oxford University Press, 2006. 8. Koren Y., “Robotics for Engineers’, McGraw Hill Book Co., 1992. 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 |
