INSTITUTE OF AERONAUTICAL ENGINEERING

(Autonomous)
Dundigal, Hyderabad -500 043

MECHANICAL ENGINEERING
COURSE DESCRIPTOR

Course Title ROBOTICS

Course Code AME533

Programme B.Tech.

Semester VI ME

Course Type PROFESSIONAL ELECTIVE

Regulation IARE - R16

Theory Practical

Course Structure Lectures Tutorials Credits Laboratory Credits

4 - 3 - -

Chief Coordinator Mr. A Anudeep Kumar, Assistant Professor

Course Faculty Mr. A Anudeep Kumar, Assistant Professor

I. COURSE OVERVIEW:
This course introduces fundamental concepts in robotics. Students will be exposed to a broad
range of topics in robotics with emphasis on basics of manipulators, coordinate transformation and
kinematics, trajectory planning, control techniques, sensors and robot applications.

II. COURSE PRE-REQUISITES:

Level Course Code Semester Prerequisites

UG AHS003 II Computational Mathematics and Integral Calculus

UG AME002 II Engineering Mechanics

III. MARKS DISTRIBUTION:

CIA
Subject SEE Examination Examination Total Marks

Robotics 70 Marks 30 Marks 100

IV. DELIVERY / INSTRUCTIONAL METHODOLOGIES:

✘ Chalk & Talk ✔ Quiz ✔ Assignments ✘ MOOCs

✔ LCD / PPT ✔ Seminars ✘ Mini Project ✔ Videos

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 ✘ Open Ended Experiments

V. EVALUATION METHODOLOGY:
The course will be evaluated for a total of 100 marks, with 30 marks for Continuous Internal
Assessment (CIA) and 70 marks for Semester End Examination (SEE). Out of 30 marks allotted
for CIA during the semester, marks are awarded by taking average of two CIA examinations or
the marks scored in the make-up examination.

Semester End Examination (SEE): The SEE is conducted for 70 marks of 3 hours duration.
The syllabus for the theory courses is divided into FIVE units and each unit carries equal
weightage in terms of marks distribution. The question paper pattern is as follows. Two full
questions with “either” or ‟choice” will be drawn from each unit. Each question carries 14
marks. There could be a maximum of two sub divisions in a question.

The emphasis on the questions is broadly based on the following criteria:

50 % To test the objectiveness of the concept.

50 % To test the analytical skill of the concept OR to test the application skill of the concept.

Continuous Internal Assessment (CIA):

CIA is conducted for a total of 30 marks (Table 1), with 25 marks for Continuous Internal
Examination (CIE), 05 marks for Quiz/ Alternative Assessment Tool (AAT).

Table 1: Assessment pattern for CIA

Component Theory
Total Marks
Type of Assessment CIE Exam Quiz / AAT

CIA Marks 25 05 30

Continuous Internal Examination (CIE):

Two CIE exams shall be conducted at the end of the 8th and 16th week of the semester
respectively. The CIE exam is conducted for 25 marks of 2 hours duration consisting of two
parts. Part-A shall have five compulsory questions of one mark each. In Part-B, four out of five
questions have to be answered where, each question carries 5 marks. Marks are awarded by
taking average of marks scored in two CIE exams.

Quiz / Alternative Assessment Tool (AAT)

Two Quiz exams shall be online examination consisting of 25 multiple choice questions and are
to be answered by choosing the correct answer from a given set of choices (commonly four).

Marks shall be awarded considering the average of two quiz examinations for every course. The

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 AAT may include seminars, assignments, term paper, open ended experiments, five minutes
video, MOOCs.

VI. HOW PROGRAM OUTCOMES ARE ASSESSED:

Program Outcomes (POs) Strength Proficiency assessed
by
PO 1 Engineering knowledge: Capability to apply the 3 Presentation on
knowledge of Mathematics, science and Engineering in real-world problems
the field of Mechanical Engineering.
PO 2 Problem analysis: An Ability to analyze complex 2 Seminar
engineering problems to arrive at relevant conclusions
using knowledge of Mathematics, Science and
Engineering.
PO4 Conduct investigations of complex problems: To 1 Term Paper
design and conduct research-oriented experiments as
well as to analyze and implement data using research
methodologies.
3 = High; 2 = Medium; 1 = Low

VII. HOW PROGRAM SPECIFIC OUTCOMES ARE ASSESSED:

Program Specific Outcomes (PSOs) Strength Proficiency assessed
by
PSO 1 Professional Skills: To produce engineering 3 Presentation on
real-world problems
professional capable of synthesizing and analyzing
mechanical systems including allied engineering
streams.
PSO 2 Software Engineering Practices: An ability to adopt - -
and integrate current technologies in the design and
manufacturing domain to enhance the employability.
PSO 3 Successful Career and Entrepreneurship: To build - -
the nation, by imparting technological inputs and
managerial skills to become technocrats.

3 = High; 2 = Medium; 1 = Low

VIII. COURSE OBJECTIVES:

The course should enable the students to:

I Develop the knowledge in various robot structures and their workspace.

II Develop the skills in performing kinematics analysis of robot systems.
III Provide the knowledge of the dynamics associated with the operation of robotic systems.
IV Provide the knowledge and analysis skills associated with trajectory planning.
V Understand material handling and robot applications in industries.

IX. COURSE OUTCOMES (COs):

COs Course Outcome CLOs Course Learning Outcome

CO 1 Understand characteristic CLO 1 Differentiate between automation and robotics.

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 features of robots and CLO 2 Classify robots and describe its anatomy.
usage of different grippers CLO 3 Specify various types of industrial sensors.
for industrial applications. CLO 4 Classify various grippers.
CO 2 Understand direct and CLO 5 Discuss about motion analysis of robot.
inverse kinematics of CLO 6 Understand methods for calculating the kinematics
robot structure. and inverse kinematics of a robot manipulator.
CLO 7 Deduce D-H notations, joint coordinates and. world
coordinates.
CLO 8 Discuss about homogeneous transformation.
CO 3 Illustrate Differential CLO 9 Describe the differential kinematics of planar
Kinematics of planar and manipulators.
spherical manipulators. CLO 10 Illustrate Lagrange-Euler formulation.
CLO 11 Discuss jacobian and robot dynamics.
CLO 12 Illustrate Newton-Euler formulation.
CO 4 Understand classification CLO 13 Describe Joint space scheme.
of robot actuators and CLO 14 Illustrate cubic polynomial fit.
trajectory planning. Classify types of motion.
CLO 15
CLO 16 Explain actuators and classify them.
CO 5 Remember material CLO 17 Illustrate various robot applications in manufacturing.
handling and applications CLO 18 Discuss the role of robots in material handling.
in manufacturing. CLO 19 Explain work cell design.
CLO 20 Discuss the role of robots in assembly and inspection,

X. COURSE LEARNING OUTCOMES (CLOs):

CLO CLO’s At the end of the course, the student will have PO’s Strength of
Code the ability to: Mapped Mapping
AME533.01 CLO 1 Differentiate between automation and robotics. PO1 3
AME533.02 CLO 2 Classify robots and describe its anatomy. PO2 2
AME533.03 CLO 3 Specify various types of industrial sensors. PO1 3
AME533.04 CLO 4 Classify various grippers. PO1 3
AME533.05 CLO 5 Discuss about motion analysis of robot. PO1 2
AME533.06 CLO 6 Understand methods for calculating the kinematics PO2 2
and inverse kinematics of a robot manipulator.
AME533.07 CLO 7 Describe D-H notations, joint coordinates and. PO2 2
world coordinates.
AME533.08 CLO 8 Discuss about homogeneous transformation. PO2 2
AME533.09 CLO 9 Describe the differential kinematics of planar PO4 1
manipulators.
AME533.10 CLO 10 Illustrate Lagrange-Euler formulation. PO4 1
AME533.11 CLO 11 Discuss jacobian and robot dynamics. PO2 2
AME533.12 CLO 12 Illustrate Newton-Euler formulation. PO2 2
AME533.13 CLO 13 Describe Joint space scheme. PO1 3
AME533.14 CLO 14 Illustrate cubic polynomial fit. PO1 3
AME533.15 CLO 15 Classify types of motion. PO1 3
AME533.16 CLO 16 Explain actuators and classify them. PO1 3
AME533.17 CLO 17 Illustrate various robot applications in PO2 3
manufacturing.
AME533.18 CLO 18 Discuss the role of robots in material handling. PO1 3
AME533.19 CLO 19 Explain work cell design. PO2 3
AME533.20 CLO 20 Discuss the role of robots in assembly and PO2 3
inspection,
3= High; 2 = Medium; 1 = Low

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XI. MAPPING COURSE OUTCOMES LEADING TO THE ACHIEVEMENT OF PROGRAM
OUTCOMES
Course Program Outcomes (POs)
Outcomes
(COs) PO 1 PO 2 PO 4 PSO1

CO 1 2 1 1
CO 2 2
CO 3 1 1 1
CO 4 3 1
CO 5 1 2 1
3= High; 2 = Medium; 1 = Low

XII. MAPPING COURSE LEARNING OUTCOMES LEADING TO THE ACHIEVEMENT

OF PROGRAM OUTCOMES AND PROGRAM SPECIFIC OUTCOMES:
Course Program Specific
Program Outcomes (POs)
Learning Outcomes (PSOs)
Outcomes
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12 PSO1 PSO2 PSO3
(CLOs)

CLO 1 3 1

CLO 2 2
CLO 3 3 1
CLO 4 3 1
CLO 5 2
CLO 6 2
CLO 7 2
CLO 8 2
CLO 9 1
CLO 10 1
CLO 11 2 1
CLO 12 2 1
CLO 13 3
CLO 14 3
CLO 15 3
CLO 16 3 1
CLO 17 3 1
CLO 18 3 1

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 Course Program Specific
Program Outcomes (POs)
Learning Outcomes (PSOs)
Outcomes
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12 PSO1 PSO2 PSO3
(CLOs)

CLO 19 3 1
CLO 20 3 1
3 = High; 2 = Medium; 1 = Low

XIII. ASSESSMENT METHODOLOGIES – DIRECT

PO1,PO2, SEE PO1, PO2, PO1, PO2,
CIE Exams PO4, PSO1 Exams PO4, PSO1 Assignments - Seminars
PO4, PSO1
Laboratory Student
- Viva - Mini Project - Certification -
Practices
Term PO1, PO2,
Paper PO4, PS01

XIV. ASSESSMENT METHODOLOGIES - INDIRECT

✔ Early Semester Feedback ✔ End Semester OBE Feedback

✘ Assessment of Mini Projects by Experts

XV. SYLLABUS
Unit-I INTRODUCTION TO ROBOTICS
Introduction: Automation and robotic, an over view of robotics, classification by coordinate system and
control systems; Components of the industrial robotics: Degrees of freedom, end effectors: Mechanical
gripper, magnetic, vacuum cup and other types of grippers, general consideration on gripper selection
and design, robot actuator and sensors.
Unit-II MOTION ANALYSIS
Motion analysis: Basic rotation matrices, composite rotation matrices, Euler angles, equivalent angle and
axis, homogeneous transformation, problems; Manipulator kinematics: D-H notations, joint coordinates
and world coordinates, forward and inverse kinematics, problems.
Unit-III DIFFERENTIAL KINEMATICS
Differential kinematics: Differential kinematics of planar and spherical manipulators, Jacobians,
problems.
Robot dynamics: Lagrange, Euler formulations, Newton-Euler formulations, problems on planar two
link manipulators.
Unit-IV TRAJECTORY PLANNING
Trajectory planning: Joint space scheme, cubic polynomial fit, avoidance of obstacles, types of motion:
Slew motion, joint interpolated motion, straight line motion, problems, Robot actuators and feedback
components; Actuators: pneumatic.
Unit-V ROBOTIC APPLICATIONS
Robot application in manufacturing, material handling, assembly and inspection, work cell design.
Text Books:
1. M. P. Groover, Industrial Robotics, Pearson, 2nd Edition, 2012.
2. J.J Criag, Introduction to Robotic Mechanics and Controll, Pearson, 3rd Edition, 2013.
Reference Books:
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 1. K.S Fu, Robotics, McGraw-Hill, 1st Edition, 2013.
2. Richard, D. Klafter, Thomas A Chmielewski, Miachael Neigen, “Robotic Engineering An
Integrated Approach‖, Prentice Hall”, 1st Edition, 2013.
3. Asada, Slotine, “Robot Analysis and ltelligence”, Wiley, 1st Edition, 2013.
4. Mark W. Spong, M. Vidyasagar, I.John, “Robot Dynamics & Control”, John Wiley & Sons,
1st Edition, 2013.
5. R. K. Mittal, I.J. Nagrath, “Robotics and Control‖”, Tata McGraw-Hill, 1st Edition, 2011.

XVI. COURSE PLAN:

The course plan is meant as a guideline. Probably there may be changes.
Lecture Topics to be covered Course Reference
No Learning
Outcomes
(CLOs)
1 Introduction of robots in chronological order. CLO 1 T1:1.1
2-3 Classification of robots by co-ordinate and control system. CLO 1 T1:1.2
4 Description of components of robotics. CLO 2 T1:1.3
5 Need for the automation and robotics in manufacture. CLO 2 T1:1.4

6 Description of various robots with degrees of freedom CLO 2 T1:1.5

7 Description of various types of end effectors CLO 4 T1:1.6
8-10 Illustration of gripper mechanism course analysis CLO 4 T1:1.7
11-13 Requirement of gripper selection features CLO 4 T1:1.7
14-15 Description and function of various types of sensors. CLO 4 T1:1.8
16-18 Derivation of transformation matrix about X Y and Z axis. CLO 5 T1:2.1
Composite rotation matrix.
19-21 Derivation of matrix using Euler angles, CLO 6 T1:2.2
22-23 Problem related to transformation in various axis. CLO 6 T1:2.3
24-25 Description of D-H Variables, Describe procedure for forward CLO 7 T1:2.4
kinematic motion analysis.
26-28 Derivation of transformation matrix for small; incremental CLO 7 T1:2.5
motion and problems.
29-30 Problems on differential motion derivation of jacobian matrix for CLO 7 T1:3.1
various configuration
31-32 Derivation of Lagrange-Euler equation and solution of problems CLO 10 T1:3.2
different configuration of robots
33-34 Derivation of Newton-Euler equation and solution of problems CLO 10 T1:3.3
different configuration of robots
35-36 Illustration of Joint space motion for both straight line and point CLO 13 T1:4.1
to point
37 Illustration of slew motion and interpolated motion. CLO 14 T1:4.2
39-40 Explanation of polynomial equation for various types of motion CLO 15 T1:4.3
and solution of Problems in various types of trajectories.
41 Description of functional aspects of each actuator and CLO 14 T1:4.4
application
42 Function wise description of various configuration of robots for CLO 17 T1:5.1
different application.
43 Role of robots in material handling. CLO 18 T1:5.2
44 Applications of robots in manufacturing. CLO 17 T1:5.3
45 Description of robot work cell design. CLO 19 T1:5.4

XVII. GAPS IN THE SYLLABUS-TO MEET INDUSTRY / PROFESSION REQUIREMENTS:

S NO DESCRIPTION PROPOSED RELEVANCE RELEVANCE
ACTIONS WITH POs WITH PSOs
1 To introduce coding and analyze Seminars PO 1 PSO 1
the concepts.

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 2 Introduction of artificial Seminars / PO 4 PSO 1
intelligence NPTEL
3 Encourage students to solve real NPTEL PO 2 PSO 1
time applications and prepare
towards competitive
examinations.

Prepared by:
Mr. A Anudeep Kumar, Assistant Professor

HOD, ME

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