AKTU Robot Dynamics and Prototype Development (HTRA801) Syllabus PDF – B.Tech Honors Degree in Robotics and Artificial Intelligence

Course Outcomes

Course Outcomes

1. Plan the robot motion.
2. Understand Robot Kinematics and Dynamics
3. Apply PLCs for various applications.
4. Use Arduino for various applications.
5. Develop a working robot for desired application.

Unit-1: Robot Motion Planning

Introduction of robot motion planning, Motion Planning Approaches, Motion Planning Schemes, Visibility Graph, Voronoi Diagram, Cell Decomposition, Tangent Graph, Approaches to Solve Moving Obstacle Problems, Path Velocity Decomposition, Accessibility Graph, Incremental Planning Scheme, Potential Field Approach

Unit-2 : Robot Kinematics and Dynamics

Robot kinematics, forward kinematics, D-H parameter of different robot like 3-R manipulator, Puma robot, scara robot etc., jacobian, Trajectory planning. Inverse kinematics, Robot dynamics forward and inverse dynamics, Newton Euler method and lagrangian-Euler method.

Unit-3 :Programmable Logical controller

Programmable Logic Controllers: Basic Structure, Types and Working Principle, Concept of Scan Cycle and Scan Time, IO’s and its Types, Selection Criteria and Applications. Programming Techniques:

Ladder diagram –Concept of Contacts and Coil, Latching/ Holding Circuit, Memory Bits, Timers and Counter

Unit-4 :Arduino

Introduction, Types, Arduino IDE, pins, power, clock, microcontroller, digital pin and analog pin, serial communication, I2C communication, SPI communication. Arduino programming: Basic part of Arduino programming, variable, constants, control structure: “If”, “While”, “For” statement.

Unit-5 :Prototype Development

Working / operational prototype development for solution of any industrial problem / application etc. - as identified by the students and decided by the department. Some suitable examples include - PLC program for bottle filling operation, shorting operation, Automatic car-parking, Washing machine.

Arduino application in pick and place robot, line following robot, obstacle avoidance robot, automatic street light, smart irrigation system.

Suggested Books:

1. Dilip Kumar Pratihar, Fundamentals of Robotics, Narosa Publishing House, 2019.
2. S. K. Saha, Introduction to Robotics, McGraw-Hill Education
3. Learn everything about PLC programming: Practical lessons on Allen-Bradley, Siemens, and mitsubishi 4.PLC with real world examples, AvinashMalekar
4. Arduino Beginners Guide Book - Basic Robotics Book, Learn Innovation with Arduino - Step by Step Learning with pictorial method, NAMUL HASSAN, PRAYOG INDIA =====================