Introduction to Robotics

At the end of this course, the students should be able to: 1. appreciate the use of electronics in Prostheses like myoelectric Prostheses which has given rise to robotic Prostheses i.e., robotic arms. This is a recent development in modern prostheses production; 2. state the work of biosensors and how to apply them; and 3. appreciate the scope and how biosensors has enabled the rapid development of automation and robotic prostheses such as Boston Digital Arm.

Automation and Robotics. Robot Classification. Robot Specifications. Direct Kinematics: D-H representation. The Arm equation. Examples Inverse Kinematics: The inverse kinematics problem and its solution. Tool configuration. Examples of various robots. Introduction to Manipulator Dynamics: Lagrange’s Equation, Lagrange-Euler Dynamic Model. Use of Sensors and Vision System in Robotic System. Biosensors, Controllers, Actuators, Powered exoskeleton and many others.