The lecture notes for this class are in the form of chapters from a possible future edition of Professor Asada's robotics textbook.
Chapter 1: Introduction (PDF)
In robotics, both at in terms of research and in terms of capturing the imagination of the general public as to its seemingly endless and diverse possibilities. This period has been accompanied by a technological mat-uration of robots as well, from the simple pick and place and painting. Khatib's current research is in human-centered robotics, human-friendly robot design, dynamic simulations, and haptic interactions. His exploration in this research ranges from the autonomous ability of a robot to cooperate with a human to the haptic interaction of a user with an animated character or a surgical instrument. Introduction to Robots: In recent years, a truck-trailer system is the most useful physical distribution system. The truck-trailer systems have more convenience than coastal services or freight trains. Meanwhile, problems of the traffic jam and the air pollution in an urban area have become serious, year after year.
Chapter 2: Actuators and Drive Systems (PDF)
Chapter 3: Robot Mechanisms (PDF)
Chapter 4: Planar Kinematics (PDF)
Chapter 5: Differential Motion (PDF)
Chapter 6: Statics (PDF)
Chapter 7: Dynamics (PDF)
Chapter 9: Force and Compliance Controls (PDF)
(Chapter 8 is not available)
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Robotics Engineering Books Pdf
Introduction to Robots:
In recent years, a truck-trailer system is the most useful physical distribution system. The truck-trailer systems have more convenience than coastal services or freight trains. Meanwhile, problems of the traffic jam and the air pollution in an urban area have become serious, year after year. Therefore improvement and rationalization of transport efficiency are social needs. There are many papers suggesting a platoon system of several trucks as a part of the development of ITS (Intelligent Transport System).
Definition of Robot:
Any machine made by one our members: Robot Institute of America, A robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks: Robot Institute of America, 1979
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List of Reference Books for Robotics- B.Tech Electives
OBJECTIVES:
• To introduce the basic concepts, parts of robots and types of robots.
• Make the student familiar with the various drive systems for robot, sensors and their applications in robots and programming of robots.
• Discuss the various applications of robots, justification, and implementation of robot.
• To introduce the basic concepts, parts of robots and types of robots.
• Make the student familiar with the various drive systems for robot, sensors and their applications in robots and programming of robots.
• Discuss the various applications of robots, justification, and implementation of robot.
UNIT -I:
Introduction Specifications of Robots- Classifications of robots – Work envelope – Flexible automation versus Robotic technology – Applications of Robots ROBOT KINEMATICS AND DYNAMICS Positions,
UNIT-II:
Orientations and frames, Mappings Changing descriptions from frame to frame, Operators: Translations, Rotations, and Transformations – Transformation Arithmetic – D-H Representation – Forward and inverse Kinematics Of Six Degree of Freedom Robot Arm – Robot Arm dynamics
UNIT -III:
Robot Drives and Power Transmission Systems Robot drive mechanisms, hydraulic – electric – servomotor- stepper motor – pneumatic drives, Mechanical transmission method – Gear transmission, Belt drives, cables, Roller chains, Link – Rod systems – Rotary-to-Rotary motion conversion, Rotary-to-Linear motion conversion, Rack and Pinion drives, Lead screws, Ball Bearing screws,
UNIT- IV:
Manipulators Construction of Manipulators, Manipulator Dynamic and Force Control, Electronic and Pneumatic manipulators Classification of End effectors – Tools as end effectors. Drive system for grippers-Mechanical adhesive-vacuum-magnetic-grippers. Hooks&scoops. Gripper force analysis and gripper design. Active and passive grippers.
UNIT- VI:
Path planning & Programming Trajectory planning and avoidance of obstacles, path planning, skew motion, joint integrated motion – straight line motion-Robot languages-computer control and Robot software.
OUTCOMES:
• The Student must be able to design automatic manufacturing cells with robotic control using
• The principle behind the robotic drive systems, end effectors, sensors, machine vision robot Kinematics and programming.
• The Student must be able to design automatic manufacturing cells with robotic control using
• The principle behind the robotic drive systems, end effectors, sensors, machine vision robot Kinematics and programming.
Robotics Important Questions List
- What is the work envelope? Draw work envelope for Cartesian coordinate, cylindrical coordinate and spherical coordinate.
- What are the common types of arm explain?
- What are the requirement and challenges of end-effector?
- Derive generalized equation for D-H convention.
- Explain with an example of the kinematic equations using homogeneous transformations robot end effector.
- Explain Newton –Euler formulation. Write its applications.
- What is the differential transformation? How are they useful in the context of Robotics?
- Explain about Robot motion planning.
- By considering examples solve fifth-order polynomial trajectory planning.
- Explain about types of the actuator with neat sketch
Buy Robotics Online Books at Amazon.in
Arduino Robotics (Technology in Action)- Apress
- John-David Warren, Josh Adams, Harald Molle
- Apress
- Edition no. 1st ed. (07/15/2011)
- Paperback: 628 pages
- Richard D. Klafter, etc.
- Prentice-Hall
- Hardcover: 608 pages
- Chi N. Thai
- Springer
- Edition no. 2nd ed. 2017 (08/09/2017)
- Hardcover: 342 pages
- Nomad Press (VT)
- Kathy Ceceri
- Nomad Press
- Paperback: 128 pages
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Robotics: Everything You Need to Know about Robotics from Beginner to Expert - Peter McKinnon
- Createspace Independent Publishing Platform
- Paperback: 240 pages
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