Robotics

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Robotics Summer Training Patna

Robotics Summer Training Patna
Robotics Courses Description

Robotics is an interdisciplinary branch of engineering and science that includes mechanical engineering, electrical engineering, computer science, and others. Robotics deals with the design, construction, operation, and use of robots, as well as computer systems for their control, sensory feedback, and information processing.

These technologies are used to develop machines that can substitute for humans and replicate human actions. Robots can be used in any situation and for any purpose, but today many are used in dangerous environments (including bomb detection and de-activation), manufacturing processes, or where humans cannot survive. Robots can take on any form but some are made to resemble humans in appearance. This is said to help in the acceptance of a robot in certain replicative behaviors usually performed by people. Such robots attempt to replicate walking, lifting, speech, cognition, and basically anything a human can do. Many of today's robots are inspired by nature, contributing to the field of bio-inspired robotics.

Robotics Course Contents

Introduction Of Robotics

  • History of Robots
  • Types of Robots, Notation

Mathematical Representation of Robots

  • Position and Orientation of a Rigid Body
  • Some Properties of Rotation Matrices
  • Successive Rotations,moving frame ZYZ
  • Transformation between coordinate system
  • Types of Joints: Rotary
  • Representation of Links using Denvit - Hartenberg Parameters

Kinematics of Serial Manipulators

  • Direct kinematics of 2R, 3R, RRP, RPR
  • Puma560 manipulator
  • SCARA manipulator
  • Stanford Arm
  • Inverse kinematics of 2R, 3R manipulator

Velocity and Statics of Manipulators

  • Differential Relationships
  • Jacobian
  • Differential motions of a frame (translation and rotation)
  • Linear and angular velocity of a rigid body
  • links in serial manipulators, 2R, 3R manipulator
  • Jacobian of serial manipulator
  • Velocity ellipse of 2R manipulator
  • Singularities of 2R manipulators
  • Statics of serial manipulators
  • Static force and torque analysis of 3R manipulator
  • Singularity in force domain.

Dynamics of Manipulators

  • Kinetic energy
  • Potential energy
  • Equation of motions
  • Inertia of a link
  • Recursive formulation of Dynamics using Newton Euler equation

Trajectory Planning

  • Joint space schemes
  • Cubic Trajectory
  • Joint space schemes with via points
  • Cubic trajectory with a via point
  • Third order polynomial trajectory planning
  • Linear segments with parabolic blends
  • Cartesian space schemes
  • Cartesian straight line and circular motion planning

Control

  • Feedback control of a single link manipulator- first order
  • second order system, PID control
  • PID control of multi link manipulator
  • Force control of manipulator
  • force control of single mass
  • Partitioning a task for force and position control- lever
  • peg in hole Hybrid force
  • position controller

Actuators

  • Types
  • Characteristics of actuating system
  • proportional feedback control
  • Electric motors
  • DC motors, Reversible AC motors, Brushles DC motors, Stepper motors
  • stepper motor speed-torque characteristics

Sensors

  • Sensor characteristics
  • Position sensors- potentiometers
  • Encoders, LVDT, Resolvers
  • Displacement sensor
  • Velocity sensor-encoders, tachometers
  • Acceleration sensors
  • Torque sensors
  • Touch and tactile sensor
  • Proximity sensors-magnetic
  • optical, ultrasonic, inductive, capacitive, eddy-current proximity sensors
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