ABOUT THE COURSE:The content of the course is designed as a basic undergraduate/postgraduate course where the engineering students of the first year should be able to pick up well. Fundamentals of traditional industrial serial robots is included for students who have not attended any formal robotics course. Each module comprises of theoretical lectures that lay the foundation, code demonstrations, and home-assignments for enhance the penetration of the core syllabus and would finally end with an end-of- course exam. In addition to formal lectures, the course would also include lab. demonstrations to further explain the concepts that are taught through the theories. This will help students to have enough exposure to pursue the subject further as professionals in the industry or as students of higher education in top universities in India or abroad.INTENDED AUDIENCE: University Students and Industrial PractitionersPREREQUISITES: UG Level: Mathematics (Linear Algebra, Calculus) and Basic Engineering MechanicsINDUSTRY SUPPORT: INDUSTRIES: Automobile, Electrical and Electronics, Plastics and Chemicals, Food and Beverage, Educational/Research, etc.
Overview
Syllabus
Week 1:
1.Introduction to Cobots, Evolution of Force Control and Cobots (The technological difference), Unique capabilities of a Cobot. Understanding constrained motion tasks.
2.Applications: Material Handling, Machine tending, Process tasks, Finishing tasks, Quality inspection, etc.
3.Levels of Collaboration, Safety standards, and Risk Assessment.Week 2:
1.Actuators and Drives: BLDC and Synchronous AC servo motors, Servo drives, integrated hardware controllers and communication interfaces.
2.Sensors: Position, velocity, acceleration, and force sensors.
3.Transmission systems and Joint Design: Harmonic Drives, Gear Box and Transmission systems.
4.Design of Safe workspaces: Safety triggers and functions, Workspace monitoring and marking forbidden zones, External and Internal Safety devices, Norms and Regulations, and Robot System design: Edges, Body and the Joints.Week 3:
1. DOF of a Robot Manipulator. Kinematic Transformations: Homogeneous Transformation, Denavit-Hartenberg (DH) Parameters; Forward Kinematics.Week 4:
1.Inverse Kinematics.
2.Differential Motion: link velocity and Acceleration analysis, Jacobian matrix and Singularity.Week 5:,
1.Statics: Link forces and moments; Recursive formulation,
2.Role of Jacobian: Force and Velocity ellipsoid.
3.Gravity Compensation and Lead through programmingWeek 6:
1. Robot Dynamics: Euler-Lagrange formulation, Newton-Euler formulation.Week 7:
1.Robot Control: Transfer function and state-space representation of a robotic joint, feedback control system, Proportional, Integral, and Derivative (PID) control. Gain tuning.Week 8:
1.Force control of Industrial Robots: Stiffness Control, Admittance control, Admittance Control and Hybrid control. Advanced force control approaches.
2. Demonstrating special features of a Cobot: Gravity compensation and Lead through programming,
3. Programmable compliance, Arbitrary reference compliance, Programmed path compliance, Kinematic redundancy. Case study: Approaches for an Assembly task.
1.Introduction to Cobots, Evolution of Force Control and Cobots (The technological difference), Unique capabilities of a Cobot. Understanding constrained motion tasks.
2.Applications: Material Handling, Machine tending, Process tasks, Finishing tasks, Quality inspection, etc.
3.Levels of Collaboration, Safety standards, and Risk Assessment.Week 2:
1.Actuators and Drives: BLDC and Synchronous AC servo motors, Servo drives, integrated hardware controllers and communication interfaces.
2.Sensors: Position, velocity, acceleration, and force sensors.
3.Transmission systems and Joint Design: Harmonic Drives, Gear Box and Transmission systems.
4.Design of Safe workspaces: Safety triggers and functions, Workspace monitoring and marking forbidden zones, External and Internal Safety devices, Norms and Regulations, and Robot System design: Edges, Body and the Joints.Week 3:
1. DOF of a Robot Manipulator. Kinematic Transformations: Homogeneous Transformation, Denavit-Hartenberg (DH) Parameters; Forward Kinematics.Week 4:
1.Inverse Kinematics.
2.Differential Motion: link velocity and Acceleration analysis, Jacobian matrix and Singularity.Week 5:,
1.Statics: Link forces and moments; Recursive formulation,
2.Role of Jacobian: Force and Velocity ellipsoid.
3.Gravity Compensation and Lead through programmingWeek 6:
1. Robot Dynamics: Euler-Lagrange formulation, Newton-Euler formulation.Week 7:
1.Robot Control: Transfer function and state-space representation of a robotic joint, feedback control system, Proportional, Integral, and Derivative (PID) control. Gain tuning.Week 8:
1.Force control of Industrial Robots: Stiffness Control, Admittance control, Admittance Control and Hybrid control. Advanced force control approaches.
2. Demonstrating special features of a Cobot: Gravity compensation and Lead through programming,
3. Programmable compliance, Arbitrary reference compliance, Programmed path compliance, Kinematic redundancy. Case study: Approaches for an Assembly task.
Taught by
Prof. Arun Dayal Udai
