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Course11210531950 lectures

Industrial Robotics: Theories for Implementation

Prof. Arun Dayal Udai · IIT-ISM Dhanbad

Start with lecture 1 At NPTEL

About

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. 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 Practitioners

Prerequisites: UG Level: Mathematics and Basic Engineering Mechanics

Lectures

Week 1

  1. Lecture 01 : Introduction to Industrial Robots YouTube
  2. Lecture 02 : Anatomy of an Industrial Robot YouTube
  3. Lecture 03 : Technical Specifications of an Industrial Robot YouTube
  4. Lecture 04 : Classification of Robots YouTube
  5. Lecture 05 : Fixed Installation Robots - Serial and Parallel Robots YouTube

Week 2

  1. Lecture 06 : Introduction to Industrial Controllers, Drives and Systems YouTube
  2. Lecture 07 : DC Motors/Actuators and Drives YouTube
  3. Lecture 08 : Stepper Motors YouTube
  4. Lecture 09 : Brushless DC Motors/Actuators YouTube
  5. Lecture 10 : AC Servo Motors YouTube

Week 3

  1. Lecture 11 : Introduction to Sensors and Transducers, Position Sensors YouTube
  2. Lecture 12 : Position Sensors: Potentiometers, and Hall-effect. Velocity Sensors YouTube
  3. Lecture 13 : Acceleration Sensors, AC Sensors (Resolvers and Synchros) YouTube
  4. Lecture 14 : Non-contact (Inductive and Capacitive), Force/Torque Sensors YouTube
  5. Lecture 15 : Limit Switches, Classification and Characteristics of Sensors YouTube

Week 4

  1. Lecture 16 : Degrees of Freedom and Kinematic Transformations : Translation YouTube
  2. Lecture 17 : Pure Rotation, Arbitrary Axis Rotations, Euler Angles YouTube
  3. Lecture 18 : Link and Joint Parameters (DH Notations), 2 and 3 DoF Robots YouTube
  4. Lecture 19 : 3 DoF Cylindrical Robot (Spatial), Spherical Wrist, Cylindrical Robot with Wrist, SCARA Robot YouTube
  5. Lecture 20 : Forward Kinematics of 6-DoF Industrial Robot YouTube

Week 5

  1. Lecture 21 : Inverse Kinematics: 2 and 3 DoF Planar Manipulator YouTube
  2. Lecture 22 : Spatial Robots - 3R, Cylindrical (RPP), 4-DoF SCARA Robot YouTube
  3. Lecture 23 : Inverse Kinematics of 6-DoF Industrial Robot YouTube
  4. Lecture 24 : Differential Motion Analysis, Velocity, and Robot Jacobian YouTube
  5. Lecture 25 : Jacobian (2R), Jacobian Inverse, Singularity, and Acceleration Analysis YouTube

Week 6

  1. Lecture 26 : Installing the Mechanical Arm and Test Run YouTube
  2. Lecture 27 : Mastering an Industrial Robot YouTube
  3. Lecture 28 : TCP Calibration using 4-Point method and External reference method YouTube
  4. Lecture 29 : TCP Orientation Calibration using World Frame and Two-Point method YouTube

Week 7

  1. Lecture 30 : Worksurface Calibration YouTube
  2. Lecture 31 : Fixed Tool Calibration: External TCP and Workpiece Calibration YouTube
  3. Lecture 32 : Base Linear Track and External Turn-Table Calibration YouTube

Week 8

  1. Lecture 33 : Link Forces and Moments YouTube
  2. Lecture 34 : Gravity Compensation and External Forces/Torques YouTube
  3. Lecture 35 : Kinetostatic Measures for Robot Design YouTube

Week 9

  1. Lecture 36 : Introduction to Dynamics, LE Approach, Dynamics of 1DoF System YouTube
  2. Lecture 37 : Equation of Motion (EoM) for a Two-Link Manipulator using LE YouTube
  3. Lecture 38 : Newton-Euler (NE) Approach YouTube
  4. Lecture 39 : Equation of motion of a Two-Link manipulator using NE Approach YouTube

Week 10

  1. Lecture 40 : Payload and Supplementary Load Calibration YouTube
  2. Lecture 41 : Identification Experiments YouTube
  3. Lecture 42 : Repeatability Tests and ISO 9283:1998 YouTube

Week 11

  1. Lecture 43 : Introduction to Control, Linear Control, Second Order System YouTube
  2. Lecture 44 : Response of a Second Order Linear System YouTube
  3. Lecture 45 : Transfer Function and State-space representation, ODE YouTube
  4. Lecture 46 : A Robot Joint : DC Motor Model YouTube
  5. Lecture 47 : Feedback control of a robot arm, PID Control, Gain Tuning YouTube

Week 12

  1. Lecture 48 : Workspace and Operator Safety YouTube
  2. Lecture 49 : Industrial Robot Programming YouTube
  3. Lecture 50 : Course Conclusion and Suggestions YouTube

Syllabus and materials

At NPTEL, as the course publishes them.

Credits and licence

Institution
IIT-ISM Dhanbad
Department
Mechanical Engineering
Teacher
Prof. Arun Dayal Udai
Level
Undergraduate
Language
English
Subjects
Engineering
Source
NPTEL
Licence
CC BY-NC-SA, as NPTEL states it. Non-commercial use only. NPTEL's terms
Attribution
NPTEL states: "Distributed under Creative Commons Attribution-ShareAlike / CC BY - NC - SA", beside a BY-NC-SA badge. Coordinated by IIT Kharagpur.
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