LESSON PLAN

TOPICS No.of classes

UNIT_I
Introduction to Robotics 2
major component so a robot, 2
robotic like devices, 1
classification of robots – Classification by coordinate system 3
by control method 2
Specifications of robots 1
fixed versus flexible automation, 1
economic analysis 1
Overview of robot application. 1
Robot Control Archietecture 1
UNIT-II
Robot end Effectors: Introduction 1
Requirements of Endeffectors 1
end effectors 2
interfacing 1
types of end effectors, 3
grippers and tools, 4
considerations in the selection 1
design of remote centered devices. 2
UNIT-III
Robotic sensory devices : Objective 1
Non-optical position sensors – potentiometers 1
synchros 1
inductosyn 1
optical position sensors – opto interrupters 2
optical encoders (absolute & incremental) 1
Proximity sensors : Contact type , non contact type – reflected light
2
scanning laser sensors.
UNIT-IV
Touch sensors – proximity rod & photo detector sensors, 2
slip sensors – Forced oscillation slip sensor, interrupted type slip
2
sensors
Fiber optic scanning sensors and Belgrade hand slip sensors 1
Transformations and Kinematics : Objectives 1
homogenous coordinates 3
basic transformation operations 3
UNIT- V
forward solution – Denavit Hartenberg procedure 2
Simple problems involving planar manipulators 3
inverse or backward solution 2
problems involved, techniques 2
60