BIRLA INSTITUTE OF TECHNOLOGY & SCIENCE, PILANI

WORK INTEGRATED LEARNING PROGRAMMES

Digital Learning
Part A: Content Design

Course Title Mechanisms and Robotics

Course No(s) DEPAZG561

Credit Units 5

2-1-2

(32 Hours of Class-room Instruction + 32 Hours of Case-

Credit Model
studies/Tutorials/Laboratories + 64 Hours of Student
Preparation)

Course Author Prof. Milind Ramgir

Version No 1.0

Date

Course Description

This course is intended to provide a comprehensive knowledge of the technology related to

robotics. The necessity of human like machines to replace human beings from the work-sites
have been long felt for a large variety of reasons. The field of robotics has emerged as one of the
important engineering areas of the future.

The course will develop overall background of the student in interdisciplinary robotic
technology with emphasis on mechanical aspects. Mechanisms which can be used in robots,
their characteristics, kinematic and dynamic analysis and design will be discussed in detail along
with the issues, applications and implementation principles of industrial robotics.
Course Objectives:

No Course Objectives

CO1 Understand the basics of robotics and its necessity in industrial world.

CO2 Learning the mathematical modelling and analysis of industrial manipulator using
computer programing

CO3 Understand the role various sensors and actuators in robotics motion and its control
system. Thereby, understand the system integration with both mechanical and
electrical/electronic control systems

CO4 Understanding the process of programming of an industrial manipulator

Teaching Methodology

The pedagogy for this course consists of class-room instruction explaining the basics theory and
mathematical part of the modelling and analysis supported by the realistic case studies.
To practices and realize the application of the modelling, simulation and analysis MATLAB baes
coding will be extensively utilized. Some of the solid modelling software such as solid works etc.
will be also utilized for modelling and simulation. In addition, students will be also encouraged
and supervised to develop their own working models.
Text Books

T Mittal R. K. & Nagrath I. J., “Robotics and Control”, TMH, 2003 (Reprint 2007 or later).

Reference Books & Other Resources

R1 Groover, M. P., et al., “Industrial Robotics”, MGHISE, 1986.

R2 Fu, K. S., et al., Robotic: Control, Sensing, Vision & Intelligence, MGHISE, 1987.

R3 Robert J., Schilling, Fundamentals of Robotics: Analysis and Control, Prentice Hall, NJ, 2002

John Joseph Uicker, G. R. Pennock, Joseph Edward Shigley, Theory of Machines and
R4
Mechanisms, Oxford University Press, 2003

Modular Content Structure

M1. Fundamentals of Robot Technology

1.1 Introduction
1.1.1. Automation and Robotics
 1.1.2. Robotics in Science Fiction
1.1.3. Progressive Advancement
1.1.4. The Robotics trends and the future prospects
1.2. Robot Anatomy
1.2.1 Links, Joints and Joint Notation scheme
1.2.2 Degrees of Freedom (DOF)
1.2.3 Required DOF in a Manipulator
1.2.4 Arm Configuration
1.2.5 Wrist Configuration
1.2.6 The End-effector (EE)
1.2.7 Human arm characteristics
1.3 Design & Control issues
1.4 Precision of Movement
1.5 Manipulation & Control
1.6 Robotics sensors
1.7 Robot specification
1.8 Robot programming & work cell control
1.9 Bio-mimic robots

M2. Analysis & modelling of mechanisms

2.1 Mechanisms
2.2 Special Mechanism
2.3 Four bar planar and Special Mechanism
2.4 Mathematical models of simple mechanisms

M3. Manipulator Frame Analysis

3.1 Introduction to co-ordinate frames mapping
3.1.1 Mapping between Rotated frames
3.1.2 Mapping between Translated frames
3.1.3 Mapping between Rotated & Translated frames.
3.1.4 Description objects in space
3.1.5 Transformation of vectors - Rotation & Translation of vectors
3.1.6 Composite transformations.
3.1.7 Inverting a Homogeneous Transform
3.1.8 Fundamental Rotation Matrices – Principle axes Rotation fixed
3.1.9 Euler and Equivalent angle axis Representations
M4. Manipulator modelling
4.1 The Kinematic Modelling of Manipulator
4.1.1 Direct kinematics model mechanical structure & Notations
Description of links & Joints
4.1.2 Denavit – Hertenberg Notation
4.1.3 Kinematic Relationship between links
4.1.4 Manipulator transformation matrix
4.1.5 Examples of direct Kinematics
4.1.6 The Inverse kinematics manipulator
4.1.7 Solvability of inverse kinematic model
4.1.8 Solution techniques
4.1.9 Closed form solutions
4.1.10 Examples of inverse kinematics
4.1.11 Singularities of manipulators

4.2 Differential Kinematics

4.2.1 Linear and angular velocity of a rigid body
4.2.2 Relationship between transformation matrix and angular velocity
4.2.3 Mapping velocity vectors along links
4.2.4 Manipulator Jacobian
4.2.5 Jacobian Inverse
4.2.6 Jacobian singularities
4.2.7 Static Analysis.
4.2.8 Examples

4.3 Dynamic modelling

4.3.1 Introduction
4.3.2 Lagrangian Mechanics
4.3.3 Lagrange–Euler (LE) formulation
4.3.4 The Lagrangian-Euler (LE) Dynamic model algorithm
4.3.5 Newton-Euler (NE) Formulation
4.3.6 Examples on dynamic modelling.

4.4 Trajectory planning

4.4.1 Introduction
4.4.2 Joint space technique
4.4.3 Coordinate space technique
 4.4.4 Examples

M5. Control of Manipulators

5.1 Control of movements of mechanical joints control sequence
5.2 Multi- joints manipulator control system
5.3 System performance
5.4 Control system with damping
5.5 Control strategy
5.6 Architecture of control systems

M6. Robotics sensors

6.1 The meaning of sensing
6.2 Sensors in Robotics kinds of sensor used in Robotics
6.3 Tactile sensors Force-Torque sensors
6.4 Introduction to machine vision
6.5 Industrial application of vision controlled Robotic systems
6.6 Image processing and Analysis
6.7 Architecture of Robotic vision systems
6.8 Description of other components of vision system

M7. Robot Application and Programming

7.1 The Interaction of EE with Environment – Assembly
7.2 Task Frame Compliances
7.2.1 Active/Passive Compliance
7.2.2 Methods providing Compliance
7.2.3 RCC device
7.3 Optimization position definitions
7.4 Interpolation language command
7.4.1 Data object command
7.4.2 Motion commands
7.4.3 Gripper command
7.4.4 Tool commands
7.4.5 Sensors command
7.4.6 Other commands
7.5 Writing programs for different tasks

Experiential learning components

(Case-Problems / Topics for Discussion in the class)
 EXPLORE/STUDY/DISCUSS (Discuss the topic to arrive
# Problem / Topic answers to these questions—however not limited to
these…)
Analysis of workspaces of different
1 Arm configuration studies. Robot signature.
configuration
Preparing MATLAB code for
2 Basics of MATLAB functions, input, output, GUI etc.
coordinate transformation
Analysis of kinematic modelling for
3 Kinematic Modelling of Manipulator, matrix operations
different manipulator configurations
Examples of Inverse kinematic
4 Inverse kinematic methods, matrix operations
problems
Examples of manipulator Jacobin
5 Manipulator Jacobian
matrix
Analysis of singularity of various
6 Manipulator Jacobian
manipulator configuration
7 Dynamic modelling of RR manipulator LE formulations
Trajectory planning of different Joint space and Cartesian space technique of trajectory
8
manipulator configuration planning
Preparation of MATLAB code for Joint space and Cartesian space technique of trajectory
9
generating torque-trajectory graph planning, Basics of MATLAB functions, input, output, GUI etc
Application of sensors in automation
10 Sensor technology
case-studies
Preparing pseudo code for a robotic
11 Basics of robot programming
task
Preparation of MATLAB simulation
12 Synthesis of mechanisms, MATLAB coading
for selected mechanisms

Learning Outcomes – Students will be able to

LO1 Differentiate the domain of industrial and service robots

LO2 Discuss the workspace and its basic characteristics, Given the configuration of
manipulator

LO3 Develop manipulator for specific task

LO4 Illustrate the application part of a manipulator operation

 Part B: Course Handout

Academic Term Second Semester 2017-18

Course Title Mechanisms and Robotics

Course No DE PAZG561

Lead Instructor Prof. Milind Ramgir

Session Schedule / Plan of Self-Study

(Each Contact Session is of 2 Hours duration)

CASE-
CS MODULES /
SESSION TOPIC REF PROBLEMS
# (Sub-Topics)
(for Discussion)
T, R1,
1. Introduction M1 1
R3
Analysis & modelling of R4
2. M2 12
mechanisms
3. Robot Frame Analysis M3: 3.1 T, R2 2
Manipulator modelling T, R2,
4. M4: 4.1.1-4.1.2 ---
R3
Manipulator modelling T, R2,
5. M4: 4.1.3-4.1.5 3
R3
Manipulator modelling T, R2,
6. M4: 4.1.6-4.1.11 4
R3
Manipulator modelling T, R2,
7. M4: 4.2 5,6
R3
T, R2,
8. Manipulator modelling M4: 4.3.1-4.3.4 ---
R3
T, R2,
9. Manipulator modelling M4: 4.3.5-4.3.6 7
R3
T, R2,
10. Manipulator modelling M4: 4.4 8,9
R3
11. Control of Manipulators M5 T, R3 ---
12. Robotics sensors M6 T, R3 10
Robot Application and T, R1,
13. M7 11
Programming R2, R3
CS: Contact Session (2Hrs); ISM: Instructor Supplied Material;
CASE-PROBLEM: Discussion on typical situational problems experienced by practising
software project managers
Assignments

▪ Each student is given an individual assignment on any of the topics discussed in

the class
▪ Assignments are take-home and deadline-driven (typically of 2 weeks duration)
announced post Mid-semester examination
▪ Students to spend at least 16 hours of work in study, research, discussion and
preparation of the report and presentation.
▪ As part of deliverables, the student is expected to prepare a report and make a
short-presentation in the class
Evaluation Scheme

Evaluation Name Type Weight Duration Schedule

Component

EC - 1 Assignments Individual and 10% 2 Weeks Throughout

Take-home

Lab -1 Online 10% 1 Week Pre Mid sem

Lab -2 Online 10% 1 Week Post Mid sem

EC - 2 Mid-Semester Closed Book 30% 2 Hrs TBA

Examination

EC - 3 End-Semester Open Book 40% 3 Hrs TBA

Examination

Closed Book No reference material of any kind will be permitted inside the exam hall.
Open Book: Use of any printed / written reference material (books and notebooks) will be
permitted inside the exam hall. Loose sheets Photocopies and Laser printouts of any material
willL not be permitted. Computers of any kind will not be allowed inside the exam hall. Use of
calculators will be allowed in all exams. No exchange of any material will be allowed.

Note:
It shall be the responsibility of the individual student to be regular in maintaining the self study
schedule as given in the course handoutattend the online/on demand lectures as per details that
would be put up in the BITS eLearn (Taxila) website elearn.bits-pilani.ac.in and take all the
prescribed components of the evaluation such as Assignments/QuizesMid Semester and End
Semester Examination according to the Evaluation Scheme given in the respective Course
Handout. If the student is unable to appear for the Regular Examination due to genuine
exigenciesthe student must refer to the procedure for applying for Make-up Examinationwhich
will be available through the Important Information link on the eLearn website on the date of the
Regular Examination. The Make-up Tests/Exams will be conducted only at selected exam
centres on the dates to be announced later.

Instructor-in-Charge