B.Tech.

Minor Degree in Robotics: Introduction to

Robotics (MNRB 401)

Dr. A.P.J. Abdul Kalam Technical University, Uttar Pradesh, Lucknow

Effective from Session: 2023-24

Eligible Branches: All Branches EXCEPT Mechanical Engg., Electronics

Engg., & Allied Branches
As per NEP 2020
 B.Tech. Minor Degree in Robotics: Introduction to Robotics (MNRB 401)

Course Objective

This course aims to familiarize students with the basic terminologies and essential knowl-
edge required to start exploring the field of robotics. It introduces the science and tech-
nology behind robotic systems, their components, and their applications in various in-
dustries.

Course Contents

Module 1: Introduction to Robotics

This module provides an overview of robotics, its history, and foundational concepts.

1. Brief History:

• Robotics began with early mechanical devices, like water-powered clocks in ancient
times, and evolved into modern programmable machines.
• The first industrial robot, Unimate, was introduced in the 1960s for factory tasks
like welding and assembly.
• Modern robotics includes advanced systems like drones, self-driving cars, and hu-
manoid robots (e.g., Boston Dynamics Atlas).
• Example: The Unimate robot lifted heavy car parts in factories, making manufac-
turing faster and safer.

2. Basic Concepts:

• Definition: A robot is a programmable, automated machine that performs tasks

with precision and can be reprogrammed for different jobs.
– Example: A robotic vacuum cleaner like Roomba cleans floors autonomously.
• Three Laws of Robotics: Proposed by Isaac Asimov, these fictional rules ensure
safe robot behavior:
(a) A robot may not harm a human or allow harm through inaction.
(b) A robot must obey humans unless it violates the first law.
(c) A robot must protect itself unless it violates the first two laws.
– Example: A hospital robot stops to avoid hitting a person, following the first
law.
• Elements of Robotic Systems:
– Robot Anatomy: The physical structure, like arms, wheels, or legs, similar to
a human bodys structure.
∗ Example: A robotic arm has joints like a human arm for movement.
– Degrees of Freedom (DOF): The number of independent movements a robot
can make, such as rotating or moving up-down.

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 B.Tech. Minor Degree in Robotics: Introduction to Robotics (MNRB 401)

∗ Example: A robotic arm that moves in three directions (up-down, left-right,

rotate) has 3 DOFs.
– Misunderstood Devices: Devices like remote-controlled toys arent true robots
because they lack autonomous programming.
∗ Example: A remote-controlled drone isnt a robot, but an autonomous drone
with GPS is.
• Classification of Robotic Systems:
– Based on Work Volume: The space a robot can cover, like a small desktop
robot versus a large industrial arm.
– Based on Type of Drive:
∗ Electric: Uses motors for precision (e.g., robotic arms).
∗ Hydraulic: Uses liquid pressure for heavy tasks (e.g., construction robots).
∗ Pneumatic: Uses compressed air for fast, light movements (e.g., assembly
lines).
∗ Example: A welding robot uses electric drives for precision, while a lifting
robot uses hydraulic drives.
• Associated Parameters:
– Resolution: The smallest movement a robot can make, ensuring fine control.
∗ Example: A robot painting a car needs high resolution for smooth lines.
– Accuracy: How close a robots movement is to the target position.
∗ Example: A robot drilling a hole must hit the exact spot.
– Repeatability: Performing the same task consistently.
∗ Example: A robot assembling phones places parts in the same spot every time.
– Dexterity: Handling complex or delicate tasks.
∗ Example: A surgical robot needs dexterity for precise cuts.
– Compliance: Adjusting to external forces, like a flexible arm that gives when
pushed.
∗ Example: A robot assembling electronics adjusts to avoid breaking parts.
– RCC Device (Remote Center Compliance): Helps robots align parts during
tasks like assembly.
∗ Example: In car manufacturing, an RCC device aligns parts even if slightly
off-position.
• Principles & Strategies of Automation:
– Automation uses robots for repetitive or dangerous tasks, reducing human effort
and errors.
– Strategies include fixed automation (e.g., conveyor belts) and flexible automation
(e.g., reprogrammable robots).
∗ Example: A bakery robot packaging bread ensures consistency and saves time.
• Types & Levels of Automation:
– Fixed Automation: For high-volume, repetitive tasks (e.g., assembly lines).
– Programmable Automation: For tasks that change frequently (e.g., switching
products).

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 B.Tech. Minor Degree in Robotics: Introduction to Robotics (MNRB 401)

– Flexible Automation: Combines both for adaptability.

∗ Example: A flexible robot switches from assembling phones to tablets.
• Need for Automation: Improves efficiency, reduces costs, enhances safety, and
frees humans for creative tasks.
– Example: Robots in mines handle dangerous tasks, keeping workers safe.
• Industrial Applications:
– Manufacturing: Welding, painting, assembly (e.g., car factories).
– Healthcare: Surgical robots, hospital delivery robots.
– Agriculture: Harvesting crops, monitoring soil.
– Logistics: Sorting packages in warehouses (e.g., Amazon robots).
∗ Example: A robot welds car parts faster and more accurately than humans.

Module 2: Grippers and Sensors for Robotics

This module covers how robots interact with objects and their environment.

1. Grippers for Robotics:

• Types of Grippers: Grippers are like a robots hands for holding objects.
– Mechanical Grippers: Use claws or fingers to grasp (e.g., picking up a box).
– Vacuum Grippers: Use suction for flat surfaces (e.g., glass sheets).
– Magnetic Grippers: Use magnets for metal objects (e.g., steel plates).
– Soft Grippers: Flexible materials for delicate items (e.g., fruits).
∗ Example: A vacuum gripper lifts cardboard boxes, while a soft gripper handles
apples.
• Guidelines for Design:
– Grippers must match the objects size, shape, weight, and material.
– Considerations include task needs (e.g., rotation, quick release) and object prop-
erties (e.g., fragile or heavy).
∗ Example: A gripper for circuit boards must be gentle to avoid damage.
• Force Analysis:
– Calculates the force needed to hold an object securely without crushing it.
∗ Example: A gripper lifting a 5 kg part needs enough force to hold it but not
dent it.

2. Sensors for Robots:

• Types of Sensors: Sensors are like a robots senses, providing environmental data.
– Proximity Sensors: Detect nearby objects (e.g., ultrasonic sensors in robot
vacuums).
– Vision Sensors: Cameras for recognizing shapes or reading barcodes.

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 B.Tech. Minor Degree in Robotics: Introduction to Robotics (MNRB 401)

– Tactile Sensors: Detect touch or pressure (e.g., feeling an objects surface).

– Force/Torque Sensors: Measure applied forces (e.g., for polishing).
– Temperature Sensors: Monitor heat (e.g., in furnaces).
∗ Example: A delivery robot uses proximity sensors to avoid walls and vision
sensors to read signs.
• Classification and Applications:
– Internal Sensors: Monitor robot state (e.g., joint positions, battery level).
– External Sensors: Detect environment (e.g., obstacles, objects).
– Applications: Navigation, inspection, human-robot interaction.
∗ Example: A robot inspecting car parts uses vision sensors to detect scratches.
• Characteristics of Sensing Devices:
– Must be accurate, reliable, fast, with appropriate range and resolution.
∗ Example: A high-resolution camera detects tiny product defects.
• Selection of Sensors:
– Depends on task and environment (e.g., rugged sensors for dusty factories, in-
frared for dark areas).
∗ Example: A robot sorting colored objects needs a vision sensor; one in a hot
oven needs a temperature sensor.
• Need for Sensors and Vision Systems:
– Enable autonomous operation by providing real-time data.
– Vision systems help robots see for tasks like object recognition or navigation.
∗ Example: A robot vacuum maps a room with sensors; a factory robot uses
vision to check assembly.

Module 3: Drives and Control for Robotics

This module explains how robots move and are controlled.

1. Drives:

• Types of Drives: Power sources for movement.

– Electric Drives: Use motors for precision (e.g., robotic arms, drones).
∗ Example: A lab robot arm uses electric motors for smooth movement.
– Hydraulic Drives: Use liquid pressure for heavy tasks (e.g., construction
robots).
∗ Example: A robot lifting steel beams uses hydraulic drives.
– Pneumatic Drives: Use compressed air for fast, light movements (e.g., assem-
bly lines).
∗ Example: A robot sorting parts uses pneumatic actuators for quick grabs.
• Transmission Systems: Transfer power to moving parts.

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 B.Tech. Minor Degree in Robotics: Introduction to Robotics (MNRB 401)

– Gears: Increase torque for heavy tasks.

– Belts: Transfer motion over distances.
– Chains: Durable for heavy loads.
∗ Example: A robotic arm uses gears to amplify motor power.
• Actuators: Devices creating movement (e.g., motors for rotation, linear actuators
for straight motion).
– Selection depends on task needs (speed, force, precision) and robot size.
∗ Example: A drone uses motors to spin propellers; a robotic leg uses linear
actuators to walk.

2. Control Systems:

• Types of Controllers: Direct robot actions, acting as the brain.

– On/Off Controllers: For simple tasks (e.g., starting a motor).
∗ Example: A robot turns on a fan when a button is pressed.
– Proportional Controllers: Adjust based on error size (e.g., nearing a target).
∗ Example: A robot arm slows as it approaches a target.
– Advanced Controllers: Use algorithms for complex tasks (e.g., navigation).
∗ Example: A self-driving car steers using advanced controllers.
• Closed Loop Control:
– Uses sensor feedback to adjust actions, ensuring accuracy.
∗ Example: A robotic arm adjusts its position using sensors to pick up a cup
correctly.

Module 4: Programming and Languages for Robotics

This module covers how robots are programmed.

1. Robot Programming:

• Methods:
– Manual Teaching: Guiding the robot to learn a task.
∗ Example: Guiding a robot arm to weld a car part.
– Offline Programming: Writing code on a computer.
∗ Example: Coding a robot to navigate a maze.
– Online Programming: Programming during operation.
∗ Example: Adjusting a robots path in real-time.
• Commands:
– WAIT: Pauses until a condition is met.
∗ Example: A robot waits for a part on a conveyor belt.
– SIGNAL: Triggers an action.

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 B.Tech. Minor Degree in Robotics: Introduction to Robotics (MNRB 401)

∗ Example: A robot signals a door to open.

– DELAY: Adds a time pause.
∗ Example: A robot pauses 2 seconds after placing a part.
• Subroutines: Reusable code for repetitive tasks.
– Example: A subroutine for picking and placing parts.

2. Programming Languages:

• Generations:
– First Generation: Basic commands.
– Second Generation: Structured languages (e.g., VAL).
– Third Generation: High-level languages like Python.
∗ Example: Early robots used MOVE; modern robots use Python for AI.
• Types:
– VAL: For industrial robots (e.g., welding).
– RAIL: For automation tasks.
– AML: For advanced manufacturing.
– Python: Simple, versatile, used for AI.
– ROS: Framework for complex robot software.
∗ Example: ROS programs a robot to map a room.
• Development of Languages:
– From basic WAVE (1970s) to ROS for advanced tasks.
∗ Example: WAVE for straight-line movements; ROS for autonomous naviga-
tion.

Module 5: Related Topics in Robotics

This module explores broader impacts of robotics.

1. Socio-Economic Aspects:

• Social Impacts: Improve productivity and safety but may reduce jobs.
– New jobs in design and maintenance.
– Example: Factory robots reduce dangerous tasks but require skilled workers.
• Economic Impacts: Lower costs but require investment.
– Example: Robots save money long-term but need upfront costs.

2. Economical Aspects for Robot Design:

• Balances cost and performance.

– Example: A cheap robot vacuum uses basic sensors; a high-end model uses AI.

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 B.Tech. Minor Degree in Robotics: Introduction to Robotics (MNRB 401)

3. Safety and Standards:

• Robots need safety features (e.g., emergency stops, sensors).

• Standards (e.g., IEEE) ensure safety.
– Example: A cobot slows near workers to avoid accidents.

4. Artificial Intelligence (AI):

• What is AI?: Enables robots to make decisions.

• Techniques:
– Machine Learning: Learn from data.
– Computer Vision: Recognize objects.
– Path Planning: Calculate routes.
• Applications: Self-driving cars, robot assistants.
– Example: A store robot restocks shelves using AI.

5. New Trends & Updates:

• Cobots: Work with humans.

• Swarm Robotics: Groups of robots.
• Soft Robotics: Flexible materials.
• AI Integration: Smarter robots.
– Example: Cobots assist in factories; swarm drones inspect bridges.

Text Books/References
1. S. K. Saha, Introduction to Robotics 2e, TATA McGraw Hills Education (2014).

2. Asitava Ghoshal, Robotics: Fundamental Concepts and Analysis, Oxford University

Press (2006).

3. Dilip Kumar Pratihar, Fundamentals of Robotics, Narosa Publishing House (2019).

4. R. K. Mittal, I. J. Nagrath, Robotics and Control, TATA McGraw Hill Publishing Co

Ltd, New Delhi (2003).

5. S. B. Niku, Introduction to Robotics - Analysis, Control, Applications, 3rd edition,

John Wiley & Sons Ltd. (2020).

6. J. Angeles, Fundamentals of Robotic Mechanical Systems Theory Methods and Algo-

rithms, Springer (1997).

7. Mikell Groover, Mitchell Weiss, Roger N. Nagel, Nicholas Odrey, Ashish Dutta, In-
dustrial Robotics 2nd edition, SIE, McGraw Hill Education (India) Pvt Ltd (2012).

8. R. D. Klafter, Thomas A. Chmielewski, and Michael Negin, Robotic Engineering - An

Integrated Approach, EEE, Prentice Hall India, Pearson Education Inc. (2009).

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 B.Tech. Minor Degree in Robotics: Introduction to Robotics (MNRB 401)

Alternative SWAYAM/NPTEL Course

NPTEL Course Name Instructor Host Institute

Introduction to Robotics Dr. Krishna Vasudevan, Dr. IIT Madras
Balaraman Ravindran, Dr.
T Asokan
Sensors and Actuators Prof. Hardik Jeetendra IISc Bangalore
Pandya

Course Outcomes

After completing the course, students will be able to:

1. Express views using robotics terminologies (e.g., DOF, accuracy, sensors).

2. Apply logic to select robotic subsystems (e.g., grippers, sensors, drives).

3. Analyze basics of robot system integration (e.g., how components work together).

4. Update knowledge in robotics (e.g., follow new trends like AI and cobots).

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