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 programming
Week 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.
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