Course Name: Robotics

Course abstract

The course will start with a brief introduction to robots and robotics. The motivation behind keeping robots in modern industries will be discussed. After providing a brief history of robotics, different components of a robotic system will be identified. The method of determining degrees of freedom of a robotic system will be discussed with some examples. After classifying the robots based on certain criteria, workspace analysis of manipulators will be carried out. Applications of robots in different areas like in manufacturing units, medical science, space, and others, will be discussed. Various methods of robot teaching will be explained with some suitable examples. Economic analysis will be conducted to decide whether we should purchase a robot. Both forward and inverse kinematics problems will be solved with the help of some suitable examples. To ensure smooth variation of joint angles of the robot, trajectory planning schemes will be explained. After carrying out velocity analysis with the help of Jacobian matrix, inverse dynamics problems of robots will be solved using Lagrange-Euler formulation. Control scheme used in robots to realise the joint torques will be discussed. Besides manipulators, analysis will be carried out on wheeled and multi-legged robots. The working principles of various sensors used in robots will be explained in detail. The steps to be followed in robot vision will be discussed with some suitable examples. The principles of motion planning algorithms will be explained in detail. Thus, this course will deal with all the issues related to kinematics, dynamics, control schemes and robot intelligence.


Course Instructor

Media Object

Dilip Kumar Pratihar

I received BE (Hons.) and M. Tech. from REC (NIT) Durgapur, India, in 1988 and 1994, respectively. I obtained my Ph.D. from IIT Kanpur, India in 2000. I received University Gold Medal, A.M. Das Memorial Medal, Institution of Engineers’ (I) Medal, and others. I completed my post-doctoral studies in Japan and then, in Germany under the Alexander von Humboldt Fellowship Programme. I am working now as a Professor (HAG scale) of IIT Kharagpur, India. My research areas include robotics, soft computing and manufacturing science. I have published more than 200 papers, mostly in various international journals. I have written a textbook on “Soft Computing”, co-authored another textbook on “Analytical Engineering Mechanics”, edited a book on “Intelligent and Autonomous Systems”, co-authored reference books on “Modeling and Analysis of Six-legged Robots”, “Modeling and Simulations of Robotic Systems Using Soft Computing” and “Modeling and Analysis of Laser Metal Forming Processes by Finite Element and Soft Computing Methods”. Recently, I have published another textbook named “Fundamentals of Robotics”. I have guided 18 Ph.D.s. I am in editorial board of 14 International Journals. I have been elected as FIE, MASME and SMIEEE. I have completed a few sponsored (funded by DST, DAE, MHRD) and consultancy projects.
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Teaching Assistant(s)

Amit Kumar Das

M.Tech

IITKGP

Saikat Sahoo

M. Tech.

IITKGP

Kondalarao Bhavanibhatla

M.Tech

IITKGP

 Course Duration : Aug-Sep 2018

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 Syllabus

 Enrollment : 18-Apr-2018 to 06-Aug-2018