Industrial Robotics : Theories For Implementation

By Prof. Arun Dayal Udai | IIT-ISM Dhanbad

Learners enrolled: 2129 | Exam registration: 399

ABOUT THE COURSE:

The content of the course is designed as a basic undergraduate/postgraduate course where the engineering students of the first year should be able to pick up well. Each module comprises of theoretical lectures that lay the foundation, code demonstrations, and home-assignments for enhance the penetration of the core syllabus and would finally end with an end-of-course exam. In addition to formal lectures, the course would also include lab. demonstrations to further explain the concepts that are taught through the theories. This will help students to have enough exposure to pursue the subject further as professionals in the industry or as students of higher education in top universities in India or abroad.

INTENDED AUDIENCE: University Students and Industrial Practitioners

PREREQUISITES: UG Level: Mathematics and Basic Engineering Mechanics

INDUSTRY SUPPORT: Automobile, Electrical and Electronics, Plastics and Chemicals, Food and Beverage, Educational/Research, etc.

Summary

Course Status :	Completed
Course Type :	Elective
Duration :	12 weeks
Category :	Mechanical Engineering
Credit Points :	3
Level :	Undergraduate/Postgraduate
Start Date :	24 Jul 2023
End Date :	13 Oct 2023
Enrollment Ends :	07 Aug 2023
Exam Registration Ends :	18 Aug 2023
Exam Date :	29 Oct 2023 IST

Note: This exam date is subjected to change based on seat availability. You can check final exam date on your hall ticket.

Page Visits

Course layout

Week 1: Introduction: Robot definition, applications, Industrial robot anatomy, robot classifications, Understanding its technical specifications, serial robots and parallel robots.

Week 2: Electrical Actuators and Drives: DC Motors, Stepper motors, BLDC Motor, and Synchronous AC servo motors, Industrial Servo drives, hardware controllers and interfaces, Selection of motors. Understanding Manufacturer's Technical datasheet.

Week 3: Robot sensors and its interfaces: Contact and non-contact Online sensors; position, velocity, acceleration, proximity, and force sensors. Characteristics of Sensors. Understanding Manufacturer's Technical datasheet.

Week 4: Grubler-Kutzbach Criterion; DOF of a Robot Manipulator. Kinematic Transformations: Homogeneous Transformation, Denavit-Hartenberg (DH) Parameters; Forward Kinematics.

Week 5: Inverse Kinematics. Differential Motion: link velocity and Acceleration analysis, Jacobian matrix and Singularity.

Week 6: Industrial Robot Installation and Commissioning, Mastering a Robot, Tool Center Point Calibration: 4-Point method, External reference method, Orientation calibration: World frame method, Two-point method.

Week 7: Calibration of Industrial Robot system: External fixed tool, Workpiece calibration: Direct and Indirect methods, Work Surface calibration: 3-Point method and Indirect method, Linear rail robot mounts and external rotary turn-table.

Week 8: Statics: Link forces and moments; Recursive formulation, Gravity Compensation, Role of Jacobian: Force and Velocity ellipsoid.

Week 9: Robot Dynamics: Euler-Lagrange formulation, Newton-Euler formulation.

Week 10: Load data calibration: For payload and any supplementary loads. Identification experiments. Repeatability tests and ISO 9283:1998

Week 11: Robot Control: Transfer function and state-space representation of a robotic joint, feedback control system, Proportional, Derivative and Integral (PID) control. Gain tuning.

Week 12: Workspace and Operator Safety, Safety triggers and functions, Workspace monitoring and marking forbidden zones, External and Internal Safety devices, Norms and Regulations. Introduction to Industrial robot programming.

Books and references

1. Introduction to Robotics, 2nd Edition, S. K. Saha, McGraw Hill Education, (India) Pvt. Ltd., New Delhi, 2008.
2. Introduction to Robotics: Mechanics and Control, 3rd Edition, John J. Craig, Pearson Publishers, 2008
3. Robot Modeling and Control, 2nd Edition, Mark W. Spong, Seth Hutchinson, M. Vidyasagar, Wiley (India), 2020.
4. Technical Specifications sheet of Industrial Robots of KUKA, ABB, FANUC, YASKAWA downloadable from respective websites of the manufacturers.

Instructor bio

Prof. Arun Dayal Udai

IIT-ISM Dhanbad

He is a faculty in the Department of Mechanical Engineering, IIT (ISM) Dhanbad. He has over 13 years of experience in teaching Robotics, Automation, and CAD. He did his Ph.D. in 2016 from IIT Delhi with a specialization in Force Control of Industrial Robots. He did his Master's in Mechanical Engineering (Design) from BIT Mesra, Ranchi in 2006 where he worked on Biped Robots. He completed his UG in Marine Engineering from MERI, Kolkata in 1999 and worked with Anglo-Eastern Ship Management, Hong Kong for four years as Mercantile Marine Engineer. He has sailed across the globe on-board ships to different countries and acquired expertise in various areas of mechanical engineering.He has published in various peer-reviewed journals, conferences and has co-authored a textbook on Computer Graphics published by McGraw Hill, New Delhi in 2008.Currently, he is also a Founder and Director of his company ADUZA Robotics and Automation Pvt. Ltd. where he is making his robots for academics and research purposes and provides consultancy to various industries in robotics and automation.

Course certificate

The course is free to enroll and learn from. But if you want a certificate, you have to register and write the proctored exam conducted by us in person at any of the designated exam centres.

The exam is optional for a fee of Rs 1000/- (Rupees one thousand only).

Date and Time of Exams: 29 October 2023 Morning session 9am to 12 noon; Afternoon Session 2pm to 5pm.

Registration url: Announcements will be made when the registration form is open for registrations.

The online registration form has to be filled and the certification exam fee needs to be paid. More details will be made available when the exam registration form is published. If there are any changes, it will be mentioned then.

Please check the form for more details on the cities where the exams will be held, the conditions you agree to when you fill the form etc.

CRITERIA TO GET A CERTIFICATE

Average assignment score = 25% of average of best 8 assignments out of the total 12 assignments given in the course.
Exam score = 75% of the proctored certification exam score out of 100

Final score = Average assignment score + Exam score

YOU WILL BE ELIGIBLE FOR A CERTIFICATE ONLY IF AVERAGE ASSIGNMENT SCORE >=10/25 AND EXAM SCORE >= 30/75. If one of the 2 criteria is not met, you will not get the certificate even if the Final score >= 40/100.

Certificate will have your name, photograph and the score in the final exam with the breakup.It will have the logos of NPTEL and IIT Kharagpur .It will be e-verifiable at nptel.ac.in/noc.

Only the e-certificate will be made available. Hard copies will not be dispatched.

Once again, thanks for your interest in our online courses and certification. Happy learning.

- NPTEL team