ED7071 INDUSTRIAL ROBOTICS AND EXPERT SYSTEMS

ED7071 INDUSTRIAL ROBOTICS AND EXPERT SYSTEMS

 UNIT I INTRODUCTION AND ROBOT KINEMATICS

Definition need and scope of Industrial robots – Robot anatomy – Work volume – Precision movement – End effectors – Sensors. Robot Kinematics – Direct and inverse kinematics – Robot trajectories – Control of robot manipulators – Robot dynamics – Methods for orientation and location of objects. 

UNIT II ROBOT DRIVES AND CONTROL

Controlling the Robot motion – Position and velocity sensing devices – Design of drive systems – Hydraulic and Pneumatic drives – Linear and rotary actuators and control valves – Electro hydraulic servo valves, electric drives – Motors – Designing of end effectors – Vacuum, magnetic and air operated grippers. 

UNIT III ROBOT SENSORS

Transducers and Sensors – Tactile sensor – Proximity and range sensors – Sensing joint forces – Robotic vision system – Image Representation - Image Grabbing –Image processing and analysis – Edge Enhancement – Contrast Stretching – Band Rationing - Image segmentation – Pattern recognition – Training of vision system. 

UNIT IV ROBOT CELL DESIGN AND APPLICATION

Robot work cell design and control – Safety in Robotics – Robot cell layouts – Multiple Robots and machine interference – Robot cycle time analysis. Industrial application of robots. 

UNIT V ROBOT PROGRAMMING, ARTIFICIAL INTELLIGENCE AND EXPERT SYSTEMS

 Methods of Robot Programming – Characteristics of task level languages lead through programming methods – Motion interpolation. Artificial intelligence – Basics – Goals of artificial intelligence – AI techniques – problem representation in AI – Problem reduction and solution techniques - Application of AI and KBES in Robots. 

 TEXT BOOK:

1. K.S.Fu, R.C. Gonzalez and C.S.G. Lee, “Robotics Control, Sensing, Vision and Intelligence”, Mc Graw Hill, 1987. REFERENCES

1. Yoram Koren,” Robotics for Engineers’ Mc Graw-Hill, 1987.

2. Kozyrey, Yu. “Industrial Robots”, MIR Publishers Moscow, 1985.

3. Richard. D, Klafter, Thomas, A, Chmielewski, Michael Negin, “Robotics Engineering – An Integrated Approach”, Prentice-Hall of India Pvt. Ltd., 1984.

4. Deb, S.R.” Robotics Technology and Flexible Automation”, Tata Mc Graw-Hill, 1994.

5. Mikell, P. Groover, Mitchell Weis, Roger, N. Nagel, Nicholas G. Odrey,” Industrial Robotics Technology, Programming and Applications”, Mc Graw-Hill, Int. 1986.

6. Timothy Jordanides et al ,”Expert Systems and Robotics “, Springer –Verlag, New York, May 1991.