BIRLA INSTITUTE OF TECHNOLOGY AND SCIENCE, Pilani
Pilani Campus
AUGS/ AGSR Division
SECOND SEMESTER 2023-24
COURSE HANDOUT
Date: 10.01.2024
In addition to part I (General Handout for all courses appended to the Time table) this portion gives further
specific details regarding the course.
Course No. : BITS F441
Course title : ROBOTICS
Instruction-in-charge : B.K. ROUT
Course Description
The objective of this course is to make the students familiar with Robotics, the main components of kinematics,
sensors, transmission and drives, control systems, intelligence and vision, geometric modelling and reasoning,
assembly planning, grasping, collision avoidance, mobile robots, force strategies, uncertainty analysis, and
representation of visual world.
1. Scope and Objective of the course
Robotics is an interdisciplinary area ranging from mechanical & electrical component design to advanced
sensor technology, incorporating computer systems and Artificial Intelligence (AI). This area has become
one of the most interesting areas for multidisciplinary research in recent years with lots of commercial
applications already in the market, with advancements in AI techniques and increased computational power
of machines.
The subject matter discussed in the course, aims at developing an understanding of Robotics & its potential
applications in a unified and coherent manner; preparing students of engineering discipline for industries’
requirements and applied research in the field. It will also give exposure to handling robot manipulator tasks in
real through laboratory experiments, as well as software to work in virtual environments and help visualization
through simulation.
2. Text Book:
T1. Mittal, R.K. and Nagrath, I.J., Robotic and Control, Tata McGraw Hill, New Delhi, 2003.
Reference Books:
a) Fu, K.S., Gonzalez, R.C., and Lee, C.S.G., Robotics Control, Sensing, Vision and Intelligence, McGraw
Hill, 2018.
b) Craig, J.J., Introduction to Robotics: Mechanism & Control. Addison Wesley, 2 0 1 6 .
c) Groover, M.P., Industrial Robotics Technology, programming & Application, McGraw Hill, 1986
d) Siegwart, R. , Nourbakhsh, I.R. , Scaramuzza, D., Introduction To Autonomous Mobile Robots, 2nd
Edition, PHI, New Delhi
3. Journals to be Referred:
IEEE Trans. Robotics & Automation, IEEE Trans. System Man & Cybernetics, IEEE Trans. Automatic
Control, International Journal of Robotics Research, ASME Trans. on Dynamics Measurement &
Control, ASME Trans. on Mechanical Design, ROBOTICA, Robotics and Computer Integrated
Manufacturing
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BIRLA INSTITUTE OF TECHNOLOGY AND SCIENCE, Pilani
Pilani Campus
AUGS/ AGSR Division
4. Course Plan
Topic No of Text Book Chapter Learning outcome
Lectures reference
1. Introduction 2 Chapter 1 To know the state of the art development
in the areas of Robotics
2. Transformations 5 Chapter 2 To understand and apply the Linear
and Mapping Algebra to transform and map the
description of the object in 3D space from
one frame of description to another.
Exposure to rigid body mechanics.
3. Forward 5 Chapter 3 To learn the methods to develop kinematic
Kinematics models of any Industrial Manipulator
working in 3D workspace. (Application of
D-H Algorithm)
4. Inverse 2 Chapter 4 To learn and apply the methods to change
Kinematics the description available in the workspace
to joint space.
5. Differential 6 Chapter 5 Develop the mathematical models to
Kinematics and obtain the velocity and angular velocity of
Statics end-effector while performing a task and
vice versa. Learn concepts related to
Jacobian and Singularity configuration.
6. Dynamics 5 Chapter 6 Develop and apply the methods to develop
equations of motion using Lagrangian and
Eulerian approach for manipulator.
7. Trajectory 6 Chapter 7 Learn the methods to develop trajectories
Planning and used by the robots to perform a task in
Obstacle avoidance workspace.
8. Sensors & 3 Chapter 6 To understand the technologies involved
Actuators (Ref. Book : Fu,Lee) in design of sensors and Actuators.
9. Robot 6 Chapter 10 To learn the methods required to control
Manipulator Control (Ref. Book :Fu,Lee) the joints of manipulator. How to design
for motion Chapter 5 (Ref. Book feedback and feedforward controllers.
: Fu, Lee )
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BIRLA INSTITUTE OF TECHNOLOGY AND SCIENCE, Pilani
Pilani Campus
AUGS/ AGSR Division
Topic No of Text Book Chapter Learning outcome
Lectures reference
10. Laboratory 4 MATLAB Experiential Learning
Classes will be Assignment/
conducted in the Robotics Tool Box/ Self-study and study based on the
CRIS (2143) for ABB 1410 assignments and Homework given in
Demonstration and programming / class.
Practice Robot MATLAB Simulink Ability to program and work with the
Programming. Control System manipulator available at CRIS
Toolbox
Total Lecture Hours 44
5. Evaluation Scheme
Component Duration Weightage (%) Date Remarks
MIDSEMESTER - min 30 OB
Comprehensive - min 40 OB
Quiz/Assignment/ ** 30 Will be TAKE HOME
Seminar/Report/ announced in the or CLASS ASSIGNMENT
Presentation, class
Software & Lab
Assgn erc.
** (Unstructured) Submission dates will be announced in the class.
6. Chamber Consultation Hours, will be announced in the class. Chamber No is 2225, FD –II. Makeup
policy is very strict and applicable for only genuine reasons and prior intimation. Your participation in
the course is very important expects you to complete the assignments in time.
7. Notices: All notices regarding the course will be put up on Google classroom. Lack of active
participation in the class will lead to the award of NC report. This course is kept in Open pool of
elective courses so that the students from science or engineering disciplines can register without any
prerequisite restriction.
Instructor-in-Charge,
BITS F441
