Introduction to Robotics and Industrial Automation

Adama University of Science and EngineeringSchool of Engineering and Information TechnologyDepartment of Electrical Engineering| Course Number | ECEG-5506| Course Title| Introduction to Robotics and Industrial Automation| Lecturer| N. N. | Credits| 3| Course Objectives & Competences to be Acquired| * Understand the elements of an industrial robot, mechanisms, sensors, actuators and end effectors. Program robotic manipulators * Acquaintance with artificial intelligence applications in robotics * Introduce industrial control circuits and applications of PLCs in modern industrial control| Course Description/Course Contents| * Robotic FundamentalsIntroduction, Robot kinematics; rigid body motion; transformation of coordinates * Mechanisms and Actuators * Sensors and DetectorsPosition, Velocity, Acceleration, Force torque; Touch and Tactile Sensors; Proximity and Range Detectors, Machine Vision * Modeling and Control of ManipulatorsNewton’s equations; Euler Lagrange method; motion control; manipulator control; trajectory generation; computer control * Robot Applications and ProgrammingPick and place; spot and arc welding; surface coating; assembly * Introduction to Computer Control Role of computers in the control of Industrial processes (plants). Elements of Computer Controlled Process / Plant. Classification – Batch, Continuous, Supervisory and Direct Digital Controls.Architecture – Centralized, Distributed and Hierarchical Systems. Man Machine or Human Computer Interface (HCI). * Basic Ladder Logic and ControlProgrammable Logic Controllers and Applications | Lab Exercises:| Motion control; manipulator control; machine learning using MATLAB and relevant tools; PLC Programming| Pre-requisites| ECEG-3206: Introduction to Control Engineering| Teaching & Learning Methods| Lecture supported by tutorial, assignment and laboratory exercises. | Assessment/Evaluation & Grading System| Assignment (20%), Mid-semester Examination (30%), Final examination (50%)| Attendance Requirements| 75% lecture attendance and 100% lab attendance| Literature| Textbook: Von Mark W.Spong , Seth Hutchinson , Mathukumalli Vidyasagar: Robot Modeling and Control, Wiley & Sons; Auflage: 1st edition Nov 30, 2005). John J. Craig: Introduction to Robotics, Mechanics and Control, Prentice-Hall; Auflage: 3rd edition July 27,2004. References: 1. P. J. McKerrow, Introduction to Robotics, Addison-Wesley, 1991. 2. Sciavicco, L. , and Siciliano, B. : Advanced Textbooks in Control and Signal Processing Series, Springer-Verlag, London, UK, 2000. 3. Canudas de Wit, Siciliano and Bastin: Modeling and Control of Robot Manipulators, 2nd Ed. , Springer-Verlag London Limited, 1996. 4. Asada, H. and Slotine, J. -J. E. , J: Theory of Robot Control, Wiley and Sons, 1986 5. Murray, R. , Li, Z. and Sastry, S. : Robot Analysis and Control CRC Press, 1994. |