Course Academic Plan Course Code and Name: ECC 801 Robotics

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Activity report

1.a Course Objectives (As per Blooms Taxonomy)

Sr No Course Objectives
1 To get acquainted with the basics of robotics
2 To familiarize students with kinematics & dynamics of robots
3 To familiarize students with Trajectory & task planning of robots.
4 To familiarize students with robot vision

1. b Course Outcome (CO) Mapping with Modules

Sr No Cos Related Module/s
CO1 Describe the basics of Robotics 1
CO2 Describe and derive kinematics and dynamics of stationary and mobile robots. 2
CO3 Apply trajectory planning algorithms 3
CO4 Describe concepts of robot motion planning algorithms 4
CO5 Apply image processing in robotic vision 5
CO6 Identify suitable Robot language based on applications 6

1.c Mapping of COs with POs (mark 3: Strong, 2: Moderate, 1: Weak,)

PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7 PO 8 PO 9 PO 10 PO 11 PO 12
CO 1 1 0.66 0.33 1 1 0.33 1 1 1 0.33 1 1
CO2 1 1 1 1 1 1 1 0.33 0.33 1 1 1
CO3 0.66 0.66 0.66 0.66 0.33 0.66 0.66 0.66 0.66 0.33 0.66 1
CO4 1 1 1 1 1 1 1 1 1 1 1 1
CO5 0.66 0.66 0.33 0.66 0.66 1 0.66 0.66 0.66 0.66 0.33 0.66
CO6 1 1 1 0.33 1 1 0.66 1 1 1 1 1

1.d Mapping of COs with PSOs

CO PSO1 PSO2 PSO3 PSO4
CO1 3 2 1 1
CO2 2 3 1 1
CO3 0 0 1 2
CO4 3 3 0 0
CO5 3 2 1 0
CO6 2 2 0 2
1.e Core Competency of the course
Categories Mathematics Basic Humanitie Core Engg./ Multidisciplinary
Science s& Technology -
& General Soft Skill Design & Analysis
Engg
Tick where ↑
applicable
2.a Teaching Scheme (As specified by the University)
ECC 801 Robotics Test1 & 2 20 End Sem Exam 80 Total 100

2.b Module Wise Teaching Hours and % Weightage in University Question Paper
Module Module Title and Brief Details Teaching %
No. Hrs. for Weightage
each in
Module University
Question
Papers
Robot Classification, Robot Components 1
Robot Specification, Joints, Coordinates 1
1 10
Coordinate frames, Workspace 1
Specification, Notations, Applications. 1
Dot and Cross Products 1
Co-ordinate frames, Rotations 1
Homogeneous Co- ordinates 1
2 25
Link Co-ordinates 1
Arm Equation (3 axis Robots) 2
Arm Equation (4 axis Robots) 2
General properties of solutions 1
Tool Configuration 1
Inverse kinematics of 3 axis Robot 1
3 Inverse kinematics of 4 axis Robots, 1 25
Inverse kinematics of 5 axis Robots, 1
Work Space Analysis of 3 axis, Work Envelope. 1
Work Space Analysis of 4 axis Robots, Work Envelope. 1
Basics of Trajectory planning, 1
Joint-space trajectory planning 1
4 10
Pick and place operations, Continuous path motion 1
Interpolated motion, Straight line motion 1
Task level programming, Uncertainty 1
Configuration Space, Gross motion Planning 1
Grasp planning, Fine-motion Planning 1
5 Simulation of Planer motion 1 25
Source and goal scenes 1
BUG 1, BUG 2 1
Tangent Bug Algorithms 1
Image representation 1
Template matching 1
Polyhedral objects, Shape analysis 1
Segmentation, Iterative processing, 1
6
Perspective transform. 1 25
Robot language 1
Classification of Robot languages 1
Computer control and Robot software 1
Variable Assembly Language system and language 1

2.c Prerequisite Courses

Sr. No. Semester Name of the course Topics covered
1 III Applied Mathematics III
2 IV Applied Mathematics IV
3 IV Controls and Instrumentation

2.d Relevance to Future Courses

Sr. No. Semester Name of the course
1
 2.e Industry Application of the course
Sr. No Application
1.

3.a Past Results –

Division A
Year Initials of Teacher % Result

Topics which affect Module Recommendations to overcome these issues &

results Number improve result in future
Negatively

4.a Learning Resources – Books and E-Resources

4.b List of Text Books
Sr. No. Text book titles Authors Publisher Edition Module No
1 Fundamentals of Robert Shilling , Prentice Hall 2009 1, 2, 3, 4, 5, 6
Robotics - Analysis and of India
control
2 Introduction to Robotics Saeed Benjamin Wiley India Pvt. Second Edition, 1, 2, 3, 4, 5, 6
– Analysis, Control, Niku Ltd. 2011
Applications

4. c List of Reference Books

Sr. No. Referencebook titles Authors Publisher Edition Module No
1 Introduction to Robotics – John J. Craig Pearson Third Edition,
Mechanics & Control Education, 2009
India
2 Robot Modeling & Control Mark W. Spong Wiley India 2006
, Seth Pvt. Ltd.
Hutchinson, M.
Vidyasagar
3 Industrial Robots- Mikell P. McGraw Hill , 2008
Technology, Programming & Groover et.al, New York
applications
4 Robotics Technology and S. R. Deb and TMH Second
Flexible Automation Sankha Deb Edition.

4.d List of E – Books

Sr. No. E book titles Authors Publisher Edition Module No

4. eWeb Links and Names of Magazines, Journals, E-journals

Sr. No. Web-Links and Names of Journals and E- Web-Links and Module
Journals Recommended Names of Nos.
Magazines
Recommended

5. Concept Inventory
Recommen Estimated Approximat
Sr. Chapt ded Text Starting Ending No. of Time in Hrs e
Topic Name Specific Concepts Covered in this Topic
No er Book for Page Page Pages for Topic Weightage
this Topic Completion (Marks)
Robot Classification, Robot
1 B1 3 5 3 1
Components
Robot Specification, Joints,
2 Fundamental B1 5 8 4 1
1 Coordinates 10
s of Robotics
3 Coordinate frames, Workspace B1 8 10 3 1
Specification, Notations,
4 B1 11 22 12 1
Applications.
5 Direct Dot and Cross Products B1 26 29 4 1
2 25
6 Kinematics Co-ordinate frames, Rotations B1 29 41 13 1
 7 Homogeneous Co- ordinates B1 41 54 14 1
8 Link Co-ordinates B1 51 57 7 1
9 Arm Equation (3 axis Robots) B1 57 61 5 1
10 Arm Equation (4 axis Robots) B1 57 61 5 1
11 General properties of solutions B1 84 87 4 1
12 Tool Configuration B1 87 90 4 1
13 Inverse kinematics of 3 axis Robot B1 90 96 7 1
Inverse Inverse kinematics of 4 axis
14 Kinematics B1 96 100 5 1
Robots,
3 and Work Inverse kinematics of 5 axis 25
15 Space B1 100 105 6 1
Robots,
Analysis Work Space Analysis of 3 axis,
16 B1 116 122 7 1
Work Envelope.
Work Space Analysis of 4 axis
17 B1 122 124 3 1
Robots, Work Envelope.
18 Basics of Trajectory planning, B2 247 252 6 1
19 Joint-space trajectory planning B2 252 260 8 1
Trajectory Pick and place operations,
20 4 B2 260 265 6 1 10
planning Continuous path motion
Interpolated motion, Straight line
21 B2 265 269 5 1
motion
Task level programming,
22 B1 358 362 5 1
Uncertainty
Configuration Space, Gross motion
23 B1 362 368 6 1
Planning
Task Grasp planning, Fine-motion
24 5 B1 368 388 20 1 25
Planning Planning
25 Simulation of Planer motion B1 388 391 4 1
26 Source and goal scenes B1 391 392 2 1
27 BUG 1, BUG 2 B1 392 394 3 1
28 Tangent Bug Algorithms B1 394 396 3 1
29 Image representation B1 308 309 1 1
30 Template matching B1 309 313 5 1
31 Polyhedral objects, Shape analysis B1 313 325 13 1
32 Segmentation, Iterative processing, B1 325 337 13 1
Robot
33 Perspective transform. B1 337 340 4 1
Vision and
34 6 Robot language B5 211 219 9 1 25
Robot
35 Languages Classification of Robot languages B5 219 229 11 1
Computer control and Robot
36 B5 229 238 10 1
software
Variable Assembly Language
37 B5 238 244 7 1
system and language

Book Code Title Author Publisher

B1 Fundamentals of Robotics - Analysis and control Robert Shilling Prentice Hall of India
B2 Introduction to Robotics – Analysis, Control, Applications Saeed Benjamin Niku Wiley India Pvt. Ltd.
B3 Fundamentals of Robotics - Analysis and control Robert Shilling Prentice Hall of India

6.0 Web Links for Online Notes/YouTube/ Digital Content/Lecture Capture/NPTEL Videos
Sr. No. Websites/ Links Module No

7. Recommended MOOC Courses like Coursera / NPTEL / Swayam/ edX etc.

Sr. No. MOOC course link Resource Person Course duration Certificate (Y/N)

8. Study Material Distributed among Students

GA Notes (Hand Written) Digital content PPT MCQ Other

9. Lesson Plan
 Chapte Topic Name Actual date
Lecture
Specific Concepts Covered in this Topic of
no.
Completion
1 Robot Classification, Robot Components
2 Fundamentals of Robot Specification, Joints, Coordinates
1
3 Robotics Coordinate frames, Workspace
4 Specification, Notations, Applications.
5 Dot and Cross Products
6 Co-ordinate frames, Rotations
7 Homogeneous Co- ordinates
8 Direct Link Co-ordinates
9 2 Arm Equation (3 axis Robots)
Kinematics
10 Arm Equation (3 axis Robots)
11 Arm Equation (4 axis Robots)
12 Arm Equation (4 axis Robots)
13 General properties of solutions
14 Tool Configuration
15 Inverse Inverse kinematics of 3 axis Robot
Kinematics and Inverse kinematics of 4 axis Robots,
16 3
Work Space
17 Analysis Inverse kinematics of 5 axis Robots,
18 Work Space Analysis of 3 axis, Work Envelope.
19 Work Space Analysis of 4 axis Robots, Work Envelope.
20 Basics of Trajectory planning,
21 Trajectory Joint-space trajectory planning
4
22 planning Pick and place operations, Continuous path motion
23 Interpolated motion, Straight line motion
24 Task level programming, Uncertainty
25 Configuration Space, Gross motion Planning
26 Grasp planning, Fine-motion Planning
27 5 Task Planning Simulation of Planer motion
28 Source and goal scenes
29 BUG 1, BUG 2
30 Tangent Bug Algorithms
31 Image representation
32 Template matching
33 Polyhedral objects, Shape analysis
34 Robot Vision Segmentation, Iterative processing,
35 6 and Robot Perspective transform.
36 Languages Robot language
37 Classification of Robot languages
38 Computer control and Robot software
39 Variable Assembly Language system and language

10. Rubric for Grading and Marking of Term Work

Lab / Practical Lab Journal Mooc
Lecture + Practical Assignments Tutorial
Performance Assessment Course/PBL Total
(% Attendance) & Marks

5 5 NA 5 5 5 25

11. Practical/Assignment Plan

Practical /
Module Mapping with
Assignment Title of experiment/assignment
no. Cos
No.
1 1 Study/Demo of 4 axis robotic arm CO 1,2
2 1 Study/Demo of 5 axis robotic arm CO 1,2
3 2 Forward kinematics CO 2,3,4
4 2 Inverse kinematic CO 2,4,5
5 1 Joint-space trajectory CO 1, 2,
6 2 Cartesian-space trajectory CO 2, 4, 5
7 4 Template matching CO 2, 4, 5
 8 4 Iterative processing CO 2, 4, 5
9 6 Segmentation CO 6

12. Beyond Syllabus Activities for Gap Mitigation

No Type of the Activity Activities Details – no of attendees, guest, feedback, mark sheet, report
1. Class Test
2. Quiz

Academic Plan prepared by

Name of Faculty: Mithun G Nair
Sign:

Domain Co-ordinator SIG Coordinator HOD