Robotics
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Follow on Instagram for UpdatesRobotics Syllabus — Unit-wise Content
The official GTU curriculum for Robotics (subject code DI05000031) as prescribed for Marine · Semester 5 divides the course into 5 units, covering 52 listed topics. The unit-wise breakdown below is read from the GTU syllabus document for this subject code, so you can check what the course actually covers before deciding which papers to attempt.
Download the official syllabus PDF (DI05000031)Unit 1 Introduction to Robotics
- 1.1 History and evolution of robotics
- generations of robots
- key milestones (UNIMATE
- collaborative robots) 1.2 Definition of a ROBOT
- Laws of robotics. 1.3 Classification: by structure (Cartesian
- by application (industrial
- by control type 1.4 Robot anatomy: links
- manipulator arm, wrist
- end- effectors (grippers
- tools) 1.5 Degrees of Freedom (DOF)
- workspace, and reach envelope 1.6 Applications: manufacturing
- agriculture, and ICT automation
Unit 2 Robot Mechanics & Kinematics
- 2.1 Coordinate frames: Cartesian
- cylindrical, and spherical systems 2.2 Homogeneous transformation matrices (translation + rotation)
- Denavit-Hartenberg (D-H) convention 2.3 Forward kinematics: D-H parameter table
- equations for 2-DOF and 3-DOF robots 2.4 Inverse kinematics: geometric and algebraic methods
- multiple solutions and singularities 2.5 Introduction to robot dynamics: Newton-Euler formulation overview
- torque and inertia concepts
Unit 3 Actuators and Sensors
- 3.1 DC motors (brushed
- servo motors
- stepper motors (full/half-step
- driver ICs: L293D
- TB6600 3.2 Hydraulic
- pneumatic actuators
- linear actuators
- solenoids 3.3 Proximity sensors: IR, ultrasonic (HC-SR04)
- inductive 3.4 Encoders (incremental
- IMU (MPU-6050
- BNO055): accelerometer
- magnetometer 3.5 Force/torque sensors
- vision sensors (camera
- signal conditioning: amplification
- filtering 3.6 Interfacing sensors and actuators with Arduino and Raspberry Pi
- ADC/DAC conversion
Unit 4 Robot Control Systems
- 4.1 Open-loop vs. closed-loop control
- feedback and feedforward
- Program Name: Diploma Engineering Level: Diploma Branch: Electronics & Communication Engineering / Information & Communication Technology Subject Code : DI05000031 Subject Name : Robotics block diagrams and signal flow 4.2 PID control: proportional
- derivative actions
- Ziegler- Nichols tuning
- digital PID implementation
- anti-windup 4.3 Trajectory planning: point-to-point (PTP) and continuous path (CP) control 4.4 Velocity and acceleration profiles: trapezoidal and S-curve
- interpolation methods: linear
- spline 4.5 Introduction to adaptive control
- fuzzy logic control, and force/impedance control (overview)
Unit 5 Robot Programming
- 5.1 Programming approaches: teach pendant
- textual languages (RAPID, KRL, VAL) 5.2 Arduino C/C++ for robot control
- Python with Raspberry Pi, GPIO and OpenCV for vision-based tasks 5.3 Robot Operating System (ROS): architecture (nodes
- writing publisher/subscriber nodes 5.4 URDF robot description
- RViz visualization
- Gazebo simulation environment 5.5 Path planning algorithms: Dijkstra
- sampling-based methods (RRT overview)
- obstacle avoidance strategies
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