Robotics And Control Lab
Professor-In-Charge
There is an image here
P.M. Pathak
Professor
pushparaj.pathak@me.iitr.ac.in
Room no:136, East Block
01332-285608
There is an image here
S.P. Harsha
Professor
s.harsha@me.iitr.ac.in
Room no:103, West Block
01332-285891
Lab Facilities/Equipment
1. SCORBOT 4u ROBOT
Alt text
SCORBOT is used to study the ER4U 5-DOF manipulator. The ScorBot ER-4U is a versatile and reliable system for industrial robotics training and education. The ScorBot ER-4U robot arm can be mounted on a table top, pedestal or linear slide base. The robot’s speed and repeatability make it highly suited for both stand-alone operations and integrated use in automated work cell applications such as robotic welding, machine vision, CNC machine tending and other FMS operations The robot is supported by ScorBase robotics programming and control software. Optional RoboCell 3D graphic software lets students design, create and control simulated industrial work cells, and provides dynamic simulation of the robot and work cell devices during position teaching and program execution. The robot is designed to enable observation of its working mechanical parts while ensuring a safe environment for students.
2. Ball and Beam System
Alt text
PID control method to design the digital controller is used in the beam and ball experiment. The ball-and-beam system consists of a ball that rotates back and forth on along beam that can be tilted by a servo or electric motor.
To understand how the ball and beam system works, one must first understand how system modeling is the purpose of this modeling is to apply a control system on the gear that will stabilize the ball at the desired position, namely the set point. The location can be changed.
The significance of the ball and beam system is that it is a simple system which is open-loop unstable. Even if the beam is restricted to be very nearly horizontal, without active feedback, it will swing to one side or the other, and the ball will roll off the end of the beam. To stabilize the ball, a control system which measures the position of the ball and adjusts the beam accordingly must be used.
3. Modular Servo System
Alt text
The modular servo system enables students to study the theory and practice of automatic control systems. The modular concept of the MS150 system permits the study of individual units and also, by combination, the investigation and performance testing of complete systems. A series of instructional manuals is supplied to provide comprehensive coverage of servo system theory and assignments.
The MS150 Modular Servo System is a unique equipment designed to study the theory and. practice of automatic control systems. It has been designed for teaching the theory of open. and closed-loop, speed and positional control systems using modular units, both mechanical.
4. Electro-pneumatic Demo Trainer with PLC
Alt text
Electro Pneumatic Trainer is a very versatile self - contained training package for the students in advanced pneumatics. It is designed for fail safe operation & ease of learning. Electro Pneumatic Trainer meets the requirements of providing practical “HANDS ON” training and can be used both as an experimental kit and as a demonstrator. Various basic / advanced pneumatic circuits can be built easily die to special design pf the trainer. The commonly used industrial pneumatic components & sine electro - pneumatic components are provided for preparing various pneumatics circuits. Many experiments can be performed. A detailed and comprehensive instruction manual is provided along with the trainer.
Nvis 3021 PLC controlled Electro Pneumatic Training platform is designed to demonstrate the design, construction and application of Pneumatic components and circuits. It integrates PLC technology to build Hybrid Industrial Automation systems with Pneumatic components and modules.
5.KUKA Robot
Alt text
The industrial robots are used in many application areas, such as material handling, loading, and unloading of machines, palletizing and depalletizing, spot and arc welding. They are used in some large companies, predominantly in the automotive industry, but also in other industries such as the aerospace industry.
6. ROBOTINO
Alt text
Robotino is based on an omnidirectional drive assembly, which enables the system to roam freely. The robot is controlled by an industry-standard PC system, which is powerful enough to plan routes for fully autonomous driving. Via a WLAN-Link, Robotino can send all sensor readings to an external PC. In the other direction, control commands can be issued by the external PC. This way, control programs can run on the external PC or on Robotino directly. Mixed mode or shared control are also possible.
we present how the model-based development and code generation tool EasyLab can be extended to support programming of all parts of a robot, including the main controller as well as peripheral devices like smart sensors
7. Advanced Robotics with the Toddler
Alt text
Walking robots are relatively unexplored in the area of hobby and education. The reason for this is that they have inherent design limitations such as their ability to handle diverse terrain including stairs; they require more complex programming algorithms and sensor based feedback; and interdependency between software and hardware requires some critical thinking to obtain the desired actions.
The Toddler is considered an advanced robotics project and introduces the following concepts:
1) Dependencies between mechanical and electrical systems and the ability to tune hardware or adjust software to obtain desired results
2) Advanced programming skills with the BASIC Stamp 2. An efficient Toddler program makes use of Stamp programming tricks with the DATA statement and EEPROM pointers, program routines that are reused and “configured” prior to execution, variable aliasing, general sound programming practices.
3) Advanced robotic programming techniques including real-time programming, subsumption architecture and state machines.
4) A step-wise process which starts with the basics and builds to something more complex and ultimately more useful
8. PHANTOM Omni
Alt text
The Phantom Omni is a commercial, portable haptic device with six Degrees of Freedom (DoF) developed by Sensable Technologies. It is based on a serial architecture, which means that the handle is connected to the housing by a single serial chain. the PHANTOM device's design allows the user to interact with the computer by inserting his or her finger into a thimble. For more sophisticated applications, multiple fingers may be used simultaneously or other devices such as a stylus or tool handle may be substituted for the thimble.
9. KONDO KHR-3HV Humanoid Robot
Alt text
KHR-3HV is the best in class humanoid robot platform with sturdy design and ability to perform amazing maneuvers that cannot even be attempted by its rivals. This is made possible by up to 22 degrees of freedom with 17 actual servos and 5 dummy servos. The dummy servos can be replaced by actual servos to achieve 22-DOF. However, we have seen that all the cool maneuvers are possible even with 17 servos that come with the standard package.
10. 3D Printer
Alt text
3D printing technologies enable educators to provide students with accurate physical prototypes, which provides practical, hands-on knowledge useful for understanding scientific concepts. Creality 3D is working with its wonderful community of users and contributors to improve this open-sourced product every day. A design is culminating from some of the best and brightest minds in the 3D printing world.
Alumni
Ongoing and Completed Research Projects
There is an image here
Dr. Mehulkumar Gor
Associate Professor
mehulmgor@gmail.com
Parul Institute of Engineering & Technology, Parul University, Vadodara
-
There is an image here
Dr. Haresh Patolia
Professor
hppatolia@bvmengineering.ac.in
B. V. Mahavidyalaya (BVM Engineering College), Vallabh Vidyanagar, Gujarat
-
There is an image here
Dr. Ravindra Singh Bisht
Principal Scientist
rsbisht@cbri.res.in
CSIR - Central Building Research Institute, Roorkee- 247667
-
There is an image here
Dr. Pushpendra Kumar
Associate Professor
kumar.pushpendra@geu.ac.in
Department of Mechanical Eng., Graphic Era (Deemed to be University), Dehradun
-
There is an image here
Dr. Mihir Kumar Sutar
Assistant Professor
mihirsutar05@gmail.com
Veer Surendra Sai University of Technology, Burla, Odisha
-
There is an image here
Dr. V. L. Krishnan
Associate Professor
drvlkrishnan@vrsiddhartha.ac.in
Velagapudi Ramakrishna Siddhartha Engineering College, Vijayawada.
-
There is an image here
Dr. Vitalram Rayankula
Assistant Professor
rvitalram@gmail.com
SRKR Engineering College, Bhimavaram, Andhra Pradesh
-
There is an image here
Dr. Vivek Kumar
Assistant Professor
vivek@sliet.ac.in
SLIET Longowal
-
There is an image here
Ms. Deepti Taram
Software Developer
dimpletaram@gmail.com
Quantiphi Analytics
-
S No TOPIC START DATE FIELD DISCRIPTION FINANCIAL OUTLAY FUNDING AGENCY OTHER OFFICERS
1 Design & Fabrication of a Planar Cooperative Space Robot 01-Jan-07 Space Robotics Rs 1.0 Lacs SRIC, IIT Roorkee -
2 Root cause analysis of problems caused by excessive vibration of separator fan and related imbalance 01-Jan-08 Dynamics, Vibration, Control Rs 0.62 Lacs ACC,Gaggal (HP) Umesh Sharma (PI)(CED), D.K. Dwivedi (CI)
3 Dynamics and Control of Robots 01-Jan-08 Robotics Rs 0.97 Lacs CEC Course N. Sukavanam (co-cordinator)
4 Recommendation to lower the vibrations caused by erosive wear in separator fan 01-Jan-08 Recommendation to lower the vibrations caused by erosive wear in separator fan Rs 3.93Lacs ACC,Gaggal (HP) D.K. Dwivedi (CI)
5 Walking Robot With Flexible Legs 01-Jan-08 Walking Robot With Flexible Legs Rs 7.5 Lacs SRIC, IIT Roorkee -
6 Modelling, Simulation and Control of Space Robots 01-Jan-09 Modelling, Simulation and Control of Space Robots Rs 5.92 Lacs Indian Space Research Organisation (ISRO) Prof. S.C.Jain
7 BOPET Film Manufacturing Equipment Design Study, Gap Analysis and New Design for Enhance Capacity 01-Jan-09 BOPET Film Manufacturing Equipment Design Study, Gap Analysis and New Design for Enhance Capacity Rs 5.75 Lacs SRF limited, Kashipur Prof. V. K. Agrawal (PI), Chemical Deptt. Dr. C.B. Majumdar (CI), Chemical Deptt.
8 Design and Development of Miniature Robot for Biopsy and In Vivo Surgery 01-Jan-09 Design and Development of Miniature Robot for Biopsy and In Vivo Surgery Rs 25.14 Lacs Department of Science and Technology, (DST), Government of India Dr. A. K. Sharma Prof N. K. Mehta Dr Vinay Gupta(MD) (Vinay Nursing Home, Roorkee)
9 Failure investigation of cranes accidents at Jamrudpur site of DMRC 01-Jan-10 Failure investigation of cranes accidents at Jamrudpur site of DMRC Rs 0.71 Lacs Crime branch, ISC, Delhi Dr D.K. Dwivedi, Dr Umesh Sharma
10 Fault Tolerant Control and Reconfiguration of Walking Robots with Flexible Legs 01-Jan-11 Fault Tolerant Control and Reconfiguration of Walking Robots with Flexible Legs Rs 19.64 Lacs Department of Sc. and Tech., (DST), Govt. of India and Ministry of Sc. and Tech., South Korea Prof A. K. Samantaray, IIT Kharagpur, Jung-Min Yang, Seong Woo Kwak, South Korea
11 Design of Different Components Of 5.0 Ton Electric Overhead Traveling (EOT) Crane 01-Jan-13 Design of Different Components Of 5.0 Ton Electric Overhead Traveling (EOT) Crane Rs. 12.92 Lacs B.K. TRADERS, BARAUNI (For Indian Oil Corporation) Dr D.K. Dwivedi
12 Inspection of injection moulding machine to determine its classification 01-Jan-13 Inspection of injection moulding machine to determine its classification Rs 1.1236 Lakhs Texplas, Haridwar Dr D.K. Dwivedi
13 Development of control system for mobile robot with manipulator for transporting hazardous materials 01-Jan-15 Development of control system for mobile robot with manipulator for transporting hazardous materials Rs 13.95 Lacs DST, Gov of India and Ministerio De Ciencia, Teconología E Innovación Productiva, Govt of Argentina Sergio Jose Junco Professor Facultad de Ciencias Exactas, Ingeniería y Agrimensura, Universidad Naci
14 Modelling and Feasibility Studies towards development of wire actuated manipulator arm for ROV-DAKSH 01-Jan-15 Modelling and Feasibility Studies towards development of wire actuated manipulator arm for ROV-DAKSH RS 9.94 Lacs Defence Research and Development Organisation (DRDO), Research and Development Establishments (Engr) -
15 Modelling and control of mobile cooperating bionic arms 01-Jan-16 Modelling and control of mobile cooperating bionic arms Rs 33.66 Lacs DST India and CNRS FRance Prof. A.K. Samantaray, IIT Kharagpur; Rochdi MERZOUKI and Prof. Belkacem Ould Bouamama, Lille Unive
16 Indo-Korea joint network centre on Robotics-Hyper-redundant Robots 01-Jan-18 Indo-Korea joint network centre on Robotics-Hyper-redundant Robots Rs 34.86 Lacs DST(India)- and Ministry of Education, Science & Technology of the Republic of Korea -
17 Design and Development of Cable-Driven Parallel Robot for Automated Construction 01-Jan-19 Design and Development of Cable-Driven Parallel Robot for Automated Construction Rs 46.19 Lacs SPARC, MHRD Prof. Arun Kumar Samantaray (IIT Kharagpur), Prof. Umesh Kumar Sharma (IIT Roorkee) Prof. Leila Nota