Robotics and Industrial Automation

One of the most desired capabilities of robots is to fetch a can of beer from the refrigerator and to serve that to you, when you'd not be in a position to do so. This course is towards the same technology and hence worthy of reading. The course discusses the math and science of this noble task, so that one can program robotic manipulators to work, while ensuring no spillage, no destruction, no getting stuck, and an accurate and efficient service.

The course talks about the basics of robotics in general and the robotic manipulators in specific, explaining all the key components which enables the manipulators to carry operations. One could transform the pose of one joint of the manipulator to the other, finally giving the ability to know the location of the hand or the end-effector with respect to the base; further creating a mechanism to compute the pose of every joint to get the hand or the end-effector at the desired location. The velocities can be transformed between joints to get the velocity of the end-effector or the inverse. The relations can be used to compute a smooth trajectory for the end-effector and joints of the manipulator to achieve the desired task. Once these basic blocks are known, one could make a dynamics model of the manipulator and further devise control strategies for the manipulator. The ability to control the manipulator makes the basic foundation block to program the robot to carry interesting operations, or to use a simulation setup to test the correctness of the program. Finally the technology leads to an automation setup and automation models for the factory floor.


S. No. Topic
1. Introduction and definition of robotics
2. Spatial description and transformation.
3. Manipulator Kinematics and D-H principle
4. Inverse manipulator kinematics
5. Manipulator Jacobian: Velocity and static forces
6. Manipulator dynamics: Lagrangian formulation and Newton-Euler formulation
7. Trajectory generation
8. Linear control of manipulator, nonlinear control, force control
9. Robot programming languages and systems
10. Offline Programming systems
11. Automation: Introduction, definition of automation. Different types of automation: Flexible and Rigid automation their advantages and disadvantages. Details about flexible automation: JIT, KANBAN, KIZEN. CIM (Computer Integrated Manufacturing using CAD/CAM)


Basic understanding of maths and physics will be very helpful in studying the course.

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Dr. Rahul Kala
Assistant Professor,
IIIT Allahabad,

Phone: +91 532 299 2117
Mobile: +91 7054 292 063