MT8701 Robotics and Machine Vision System Notes

MT8701 Robotics and Machine Vision System Notes
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UNIT I BASICS OF ROBOTICS

Introduction
Basic components of robot-Laws of robotics
classification of robot-work space-accuracy resolution
repeatability of robot.
Power transmission system: Rotary to rotary motion,
Rotary to linear motion,
Harmonics drives
gear system
belt drives.

UNIT II ROBOT END EFFECTORS

Robot End effectors: Introduction
types of End effectors
Mechanical gripper
types of gripper mechanism
gripper force analysis
other types of gripper
special purpose grippers.

UNIT III ROBOT MECHANICS

Robot kinematics: Introduction
Matrix representation
rigid motion & homogeneous transformation forward & inverse kinematics
trajectory planning.
Robot Dynamics: Introduction
Manipulator dynamics
Lagrange
Euler formulation
Newton
Euler formulation

UNIT IV ROBOT PROGRAMMING

Robot programming: Robot Languages
Classification of robot language
Computer control and robot software
Val system and Languages
application of robots.

UNIT V MACHINE VISION FUNDAMENTALS

Machine vision: image acquisition,
digital images-sampling and quantization
levels of computation Feature extraction
windowing technique
segmentation
Thresholding
edge detection
binary morphology
grey morphology

OUTCOMES

Upon completion of this course, the students can able to

CO1: Express the basic concepts, laws, components and parameters of robots
CO2: Explain the types of grippers and its functions.
CO3: Evaluate the kinematic calculations and apply Lagrangian and Newton-Euler methods to analyze dynamic characteristics of robots
CO4: Describing the various programming techniques used in industrial robots
CO5: Basis of machine vision and apply the concept of image processing

TEXT BOOK

  1. M.P.Groover, M.Weiss ,R.N. Nagal, N.G.Odrey, “Industrial Robotics - Technology, programming and Applications” Tata , McGraw-Hill Education Pvt Limited 2ndEdition, 2012

REFERENCES

  1. John.J.Craig, " Introduction to Robotics: Mechanics & control"Pearson Publication, Fourth edition, 2018.
  2. Jazar, “Theory of Applied Robotics: Kinematics, Dynamics and Control”, Springer, 2nd Edition, 2010
  3. K.S.Fu, R.C.Gonzalez, C.S.G.Lee, “Robotics: Sensing, Vision & Intelligence”, Tata McGraw-Hill Publication, First Edition, 1987.
  4. Sathya Ranjan Deb, “Robotics Technology & flexible Automation” Second edition, Tata McGraw-Hill Publication, 2009.