Students Teaching Robotics 6 years Total teaching experience 17 years Prof Subir Kumar Saha Dept of Mech Eng IIT Delhi sahamechiitdacin Dec 22 2012 SN Lecture 3 hrs ID: 803442
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Slide1
Trends in Teaching Robotics to UG/PG Students[Teaching Robotics: 6 years][Total teaching experience: 17 years ]
Prof.
Subir
Kumar
Saha
Dept. of Mech. Eng., IIT
Delhi
saha@mech.iitd.ac.in
Dec. 22, 2012
Slide2SN
Lecture (3 hrs.
module)Lab. (2 hrs. module)1Applications; Types (Mobile, Parallel); Serial: Cartesian, Cylindrical, etc. Demos of ER9 robot; Virtual Robotics Lab. in ADAMS2Sensors and actuators used in RobotsDH parameters of a real robot3Pose, DH Parameters, Homogenous Trans. Forward kinematics in MATLAB4Forward and Inverse KinematicsInverse kinematics derivations5Jacobian: Velocity transformationProgramming in MATLAB6Statics: Use of Jacobian Find Jacobian , singularity7Dynamics: Newton-Euler Recursive AlgorithmClass Project 1 Presentation8Euler-Lagrange Equations of motion/DeNOCControl simulation (MATLAB)9Kinematic design: Singularity, Dexterity, etc.DC motor control set-up10Mechanical design of robot linksProgramming of ER9 robot11Control: Definition, closed-loop algorithmVerify using RoboAnalyzer12Motion planning: Polynomial, Spline, etcDynamics of 3R robot13Parallel Robots: Inverse kinematicsProject 2 presentation14Forward Kinematics of parallel robotsBuffer class
Course: Robotics Engineering (UG)/Robotics (PG)
Slide3Books/Software/Other AidsText BookSaha, S.K., Introduction to Robotics, Tata McGraw-Hill, New Delhi, 2008Other BooksGhosal, A., Robotics, Oxford, New Delhi, 2006Craig, J.J., Introduction to Robotics: Mechanics and Control, Pearson Education, 2009
Software
RoboAnalyzer, MATLABOther Aids Class Projects: 1) Dynamics Model of RP manipulator; 2) Modeling of an AGVRobocon competitions
Slide4In Next 10 YearsUse more of RoboAnalyzer/MATLAB software to understand the concepts.Do more assignmentsUse software/build hardware for class projectsEmphasize on mathematical formulations and design aspects.Consider credits in the Robocon type of activities
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