B.M.S. COLLEGE OF ENGINEERING, BENGALURU-19.

LESSON PLAN
EVEN SEMESTER 2018 -19
Name of the Faculty NARAHARI Dept. MECHANICAL
Course & Course FUNDAMENTAL OF ROBOTICS Semester & VI
Code 16ME6DEROB Sec. (Elective)

Week Unit Topic to be covered Remarks

1 History of robotics, Applications
1 1 Anatomy and classification
1 Description of position and orientation: position vector
1 Rotation matrix; Mapping: translation and rotation
2 1 Homogeneous transform; transformation arithmetic,
1 Transform equations, other forms of representation of orientation
1 Euler angles, 2 –vector representation,
3 1 Angle – axis representation, Euler parameters
1 Introduction, Link description, link connection description
1 Denavit- Hartenberg parameters,
4 1 Derivation of link transformations
1 Concatenating link transformations, actuator space
1 Joint space and Cartesian space
5 2 Introduction, Solvability: existence of solution
2 Multiple solutions and method of solution
2 Algebraic vs. geometric approach, algebraic solution by reduction to
polynomial
6 2 Algebraic solution by reduction to polynomial
2 Workspace, Repeatability and accuracy
2 Jacobians
7 2 Changing a Jacobian’s frame of reference
2 Resolved rate motion control
2 Singularities
3 Introduction, general considerations in path description and
8 generation, Joint space schemes
3 Joint space schemes: cubic polynomial, cubic polynomial for a path
with via points
3 Linear function with parabolic blends
9 3 Linear function with parabolic blends for a path with via points
3 Cartesian space schemes: Cartesian straight line motion
3 Geometric problems with Cartesian paths, path generation at run
time
10 4 Feedback control, second order linear systems, PD control
4 Control law portioning, trajectory following control
4 Disturbance rejection and steady state error
11 4 PID control, continuous vs. discrete time control
4 Modeling and control of a single joint
4 Architecture of PUMA 560 robot controller
12
4 Architecture of PUMA 560 robot controller
 5 Power conversion unit, Types of actuators, Characteristics of
actuating systems
5 Overview of hydraulic and pneumatic actuators
13 5 Electric actuators: PMDC servo motor, Brushless DC motor
5 Stepper motor, modern actuators
5 Sensors: Introduction, Sensor characteristics
14 5 Contact and non-contact type sensors
5 Contact and non-contact type sensors

Semester Start Date: 24/01/2019. Semester End Date: 20/05/2019

Total available working weeks = 16
Number of classes per week: 03 (Mon, Tue & Wed).
Total classes in the semester: 16 weeks x 03 classes / week = 48 classes
Total holidays on (Mon, Tue & Wed) = 1 (Mon) + 2 (Tue) + 1 (Wed) = 04 days
Total class losses due to Utsav = 1 days.
Classes lost due to CIE-tests = 6 days

Hence, total available classes in this semester = 48 – 04 – 06 – 01 = 37 classes.

The above lesson plan is for 42 classes. Thus, to make up for the lack of classes, 5 extra classes
will have to be taken.

Course Outcomes
Upon completion of this course, student will be able to:
CO Outcome PO
1 Develop representation of robots in workspace. PO1
2 Solve for kinematics of robot manipulators PO1, PO2
3 Plan trajectory for robot motion PO1, PO2
4 Select actuators, sensors and controllers for robotic applications PO1, PO2
5 Design simple robots PO1, PO2
6 Build simple robots PO3

10-02-2019
Date of Submission Signature of Faculty Signature of HOD
[NARAHARI]