Welcome to
IE410-Introduction to Robotics
Credit Structure (L-T-P-Cr): 3-0-2-4
Semester: Winter 2023
Instructor: Tapas Kumar Maiti
Mode of Delivery:
Lectures and Labs delivery mode: Physical
Course materials are available in Google-Classroom.
Lecture time in each week (CEP110):
Monday, Wednesday, and Friday: 12:00 - 12:50
Lab time in each week (LAB104/107):
Monday and Tuesday: 2:00PM - 4:00PM
Robot Operating System (ROS)
No class and Lab on holiday
Course Contents
1.
Basic of Robotics
2.
Robot Coordinate Systems
3.
Forward Kinematics
4.
Inverse Kinematics
5.
Sensor and Actuators
6.
Robot Dynamic and Force Analysis
7.
Trajectory Planning
8.
Robot-Control
Evaluation Scheme
• In-Sem Exam: 30%
• End Sem Exam: 40%
• Labs : 30%
Suggested Textbooks
• Introduction to Robotics: Analysis, Control,
Applications, 3rd Ed. Saeed B. Niku, Wiley, 2019.
• Introduction to Robotics: Mechanics and Control,
3rd Ed. John J. Craig, Addison-Wesley Publishing
Company, 2003.
• ROS Robot Programming, 1stt Ed. YoonSeok Pyo,
HanCheol Cho, RyuWoon Jung, and TaeHoon Lim,
ROBOTIS Co., Ltd. 2017.
Lab Information
Practical will be carried out using Robot-Operating-System
(ROS). Please download and install the software on your
computer/laptop.
1. ROS2 Installation
https://www.youtube.com/watch?v=ehtUb55Rmmg&lis
t=PLk51HrKSBQ8-jTgD0qgRp1vmQeVSJ5SQC
2. ROS book:
http://wiki.ros.org/Books/ROS_Robot_Programming_En
glish
3. Materials on ROS2 website:
http://wiki.ros.org/kinetic/Installation/Ubuntu
http://wiki.ros.org/ROS/Tutorials
Related Resources
1. Essence of Linear Algebra:
https://www.youtube.com/playlist?list=PLZHQObOW
TQDPD3MizzM2xVFitgF8hE_ab
2. Python Tutorial: https://cs231n.github.io/pythonnumpy-tutorial/
3. ROS (Robot Operating System), 2020.
https://www.ros.org