Institute of Engineering & Technology, Devi Ahilya University, Indore, (M.P.), India.

(Scheme Effective from July 2023)

Devi Ahilya University, Indore, India III Year B.E. (Mechanical

Institute of Engineering & Technology Engg.)
(Full Time)
Subject Code & Name Instructions
Credits
Hours per Week
L T P L T P Total
6MERE2: Robotics
3 1 2 3 1 1 5
Duration of Theory Paper:
3 Hrs

Course Objective:
The course is designed
1. The main objective of the subject is to introduce the students about the new and advanced
methods to implement on design of Industrial robot.
2. Objective of the subject to introduce the students about the new and advanced methods to
implement on Industry Automation.
3. Students will demonstrate an understanding of how to program robots and computers that control
manufacturing automation.

Prerequisite(s):
COURSE CONTENT
UNIT-I
Introduction: Automation and Robotics, An overview of Robotics, History of robots,
Classification of robots, Classification by coordinate system and control system. Mechanisms and
transmission, Present and future applications, Basic components of robotic system. Function line
diagram representation of robot arms, common types of arms.

UNIT-II
Components of the Industrial Robotics: Architecture, Basic terminology- Accuracy,
Repeatability, Resolution, number of degrees of freedom, Requirements, classifications, working
and applications of end effectors/grippers, determination of the end effectors/grippers,
comparison of Electric, Hydraulic and Pneumatic types of locomotion devices. Introduction,
classification and working of various sensors.

UNIT-III
Robot Arm Kinematics: Direct and inverse kinematics, Rotation matrices, Composite rotation
matrices, Euler angle representation, Homogenous transformation, Denavit Hattenberg
representation and various arm configuration.

UNIT-IV
Robot Arm Dynamics: Lagrange – Euler formulation, joint velocities, Kinetic energy, Potential
energy and motion equations, Generalised D’Alembert equations of motion.

UNIT-V
Robot controls: Point to point control, Continuous path control, Intelligent robot, Control system
for robot joint, Control actions, Feedback devices, Encoder, Resolver, LVDT, Motion
Interpolations, Adaptive control.
Introduction to Robotic Programming: On-line and off-line programming, programming
examples.
 Institute of Engineering & Technology, Devi Ahilya University, Indore, (M.P.), India.
(Scheme Effective from July 2023)

Application of Robotics: Robot Application in Manufacturing: Material Transfer, Material

handling, loading and unloading- Processing, Spot and continuous arc welding & spray painting,
Assembly and Inspection.

List of Practical Assignments:

10. Assignment on introduction to robot configuration.
11. Demonstration of robot with 2 DOF, 3 DOF, 4 DOF etc.
12. Two assignments on programming the robot for applications.
13. Two assignments on programming robots for applications in VAL II.
14. Two programming exercises for robots.
15. Two case studies of applications in industry.
16. Exercise on robotic simulation software.

Course Outcome:
Students who earned credits will develop ability to
CO1. Familiar with the history, concept development and key components of robotics
technologies.
CO2. Familiar with various robot sensors and their perception principles that enable a robot to
analyse their environment, reason and take appropriate actions toward the given goal.
CO3. Understand, analyse and solve problems in spatial coordinate representation and spatial
transformation, robot locomotion design, kinematics, motion control.

Books Recommended:
[11]. Fu K. S., Robotics (Control, Sensing, Vision and Intelligence), McGraw-Hill, 4e, 2003.
[12]. Schilling R. J., Fundamental of Robotics, Prentice Hall, 1990.
[13]. Wesley, Sryda E., Industrial Robots: Computer interfacing and Control, Prentice Hall,
1985.
[14]. Groover M.P., Industrial Robotics Technology Programming and Applications, McGraw-
Hill, 1986.
[15]. Asada and Slotine, Robot Analysis and Control, John Wiley and Sons, 1986.

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 Institute of Engineering & Technology, Devi Ahilya University, Indore, (M.P.), India.
(Scheme Effective from July 2023)

Course Objective:
The course is designed
1. The main objective of the subject is to introduce the students about the new and advanced
methods to implement on design of Industrial robot.
2. Objective of the subject to introduce the students about the new and advanced methods to
implement on Industry Automation.
3. Students will demonstrate an understanding of how to program robots and computers that control
manufacturing automation.

Course Outcome:
Students earned credits will develop ability to
CO.No. CO PO
CO1 Familiar with the history, concept development and key PO1, PO2, PO3
components of robotics technologies.
CO2 Familiar with various robot sensors and their perception PO1, PO4, PO5
principles that enable a robot to analyse their environment, reason
and take appropriate actions toward the given goal.
CO3 Understand, analyse and solve problems in spatial coordinate PO1, PO3, PO4,
representation and spatial transformation, robot locomotion PO12
design, kinematics, motion control.

CO-PO Relationship
CO PO- PO- PO- PO- PO- PO- PO- PO- PO- PO-10 PO-11 PO-12
1 2 3 4 5 6 7 8 9
CO1 3 3 3
CO2 3 3 3
CO3 3 3 3 2
CO4
CO5

* CO (rows) mention nil/very small/insignificant contribution to the PO(column)

1→ relevant and small significance 2 → medium or moderate and 3 →stronge