B.E. (Biomedical Engineering) Robotics in Medicine Abbreviated As RIM Syllabus - Mumbai University

Module 1: Introduction:

• Automation and robots, classification, application, specification and notations.

Module 2: Direct Kinematics:

• Dot and cross products, co-ordinate frames, rotations, homogeneous coordinates, link co-ordinates, arm equation and arm matrix derivation (two axis, three axis and four axis SCARA), configuration of five axis and six axis robots (arm matrix derivation and equation not expected)

Module 3: Inverse kinematics:

• General properties of solutions of inverse kinematics, methods for finding solution, tool configuration vector and inverse kinematics solution for two axis, three axis and four axis robots. Workspace analysis, work envelope and examples, workspace fixtures, trajectory planning, pick and place operations, continuous path motion, interpolated motion, straight-line motion.

Module 4: Robot vision:

• Image representation, template matching, polyhedral objects, shane analysis, segmentation (thresholding, region labelling, shrink operators, swell operators, Euler numbers, perspective transformation, structured illumination, camera calibration).

Module 5: Task planning:

• Task level programming, uncertainty, configuration, space, gross motion, planning, Grasp planning, fine-motion planning, simulation of planar motion, source and goal scenes, task planner simulation.

Module 6: Applications in biomedical engineering: Application in rehabilitation: clinical and surgery

Text Books

• 1 Fundamentals of Robotics-Analysis and control, Robert Shilling, Prentice Hall of India
• 2 Introduction to Robotics, Saeed B Niku, Pearson Education
• 3 Robotics, Fu, Gonzales and Lee, McGraw Hill, SecondEdition,2011
• 4 “Introduction to Robotics–Mechanics &Control” John J. Craig, Pearson Education, India, Third Edition, 2009
• 1 Robotics and AI, Staughard, , Prentice Hall Of India.
• 2 Industrial Robotics Grover, Wiess, Nagel, Oderey, McGraw Hill.
• 3 Robotics and Mechatronics, Walfram Stdder, Mc Graw Hill, NewYork, 2008
• 4 Robot Engineering, Klafter, Chmielewski, Negin. Prentice Hall Of India.
• 5 Robotics and Control. Mittal, Nagrath, Tata McGraw Hill publications Theory Examination: