# Industrial Robotics: Theories for Implementation

- Institution: IIT-ISM Dhanbad
- Department: Mechanical Engineering
- Teacher: Prof. Arun Dayal Udai
- Level: Undergraduate
- Language: English
- Subjects: Engineering
- Source: [NPTEL](https://nptel.ac.in/courses/112105319)
- Licence: [CC BY-NC-SA](https://nptel.ac.in/faq) (Non-commercial use only.)
- Syllabus: [at the source](https://nptel.ac.in/courses/112105319)
- Who can watch: Tweens profiles and older (sources give no ratings; placed by Invisible Network from the source's own words)

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

1. [Lecture 01 : Introduction to Industrial Robots](https://invisiblenetwork.ai/learn/nptel/112105319/0d53ca414287) (YouTube)
2. [Lecture 02 : Anatomy of an Industrial Robot](https://invisiblenetwork.ai/learn/nptel/112105319/1bca12065f35) (YouTube)
3. [Lecture 03 : Technical Specifications of an Industrial Robot](https://invisiblenetwork.ai/learn/nptel/112105319/cc8d02e337a4) (YouTube)
4. [Lecture 04 : Classification of Robots](https://invisiblenetwork.ai/learn/nptel/112105319/5c777c2b998f) (YouTube)
5. [Lecture 05 : Fixed Installation Robots - Serial and Parallel Robots](https://invisiblenetwork.ai/learn/nptel/112105319/e845fb93374b) (YouTube)
6. [Lecture 06 : Introduction to Industrial Controllers, Drives and Systems](https://invisiblenetwork.ai/learn/nptel/112105319/193dd92c838f) (YouTube)
7. [Lecture 07 : DC Motors/Actuators and Drives](https://invisiblenetwork.ai/learn/nptel/112105319/727dec241079) (YouTube)
8. [Lecture 08 : Stepper Motors](https://invisiblenetwork.ai/learn/nptel/112105319/c5bd90986b5a) (YouTube)
9. [Lecture 09 : Brushless DC Motors/Actuators](https://invisiblenetwork.ai/learn/nptel/112105319/acc636dfada0) (YouTube)
10. [Lecture 10 : AC Servo Motors](https://invisiblenetwork.ai/learn/nptel/112105319/57fef3b3c540) (YouTube)
11. [Lecture 11 : Introduction to Sensors and Transducers, Position Sensors](https://invisiblenetwork.ai/learn/nptel/112105319/63b4a46f0c38) (YouTube)
12. [Lecture 12 : Position Sensors: Potentiometers, and Hall-effect. Velocity Sensors](https://invisiblenetwork.ai/learn/nptel/112105319/3f177cd81f07) (YouTube)
13. [Lecture 13 : Acceleration Sensors, AC Sensors (Resolvers and Synchros)](https://invisiblenetwork.ai/learn/nptel/112105319/55dfa310a099) (YouTube)
14. [Lecture 14 : Non-contact (Inductive and Capacitive), Force/Torque Sensors](https://invisiblenetwork.ai/learn/nptel/112105319/3bc905fe1671) (YouTube)
15. [Lecture 15 : Limit Switches, Classification and Characteristics of Sensors](https://invisiblenetwork.ai/learn/nptel/112105319/03ac17739f6c) (YouTube)
16. [Lecture 16 : Degrees of Freedom and Kinematic Transformations : Translation](https://invisiblenetwork.ai/learn/nptel/112105319/8f49f1833b07) (YouTube)
17. [Lecture 17 : Pure Rotation, Arbitrary Axis Rotations, Euler Angles](https://invisiblenetwork.ai/learn/nptel/112105319/da7607129f82) (YouTube)
18. [Lecture 18 : Link and Joint Parameters (DH Notations), 2 and 3 DoF Robots](https://invisiblenetwork.ai/learn/nptel/112105319/df7b76753bf5) (YouTube)
19. [Lecture 19 : 3 DoF Cylindrical Robot (Spatial), Spherical Wrist, Cylindrical Robot with Wrist, SCARA Robot](https://invisiblenetwork.ai/learn/nptel/112105319/80fc5c200959) (YouTube)
20. [Lecture 20 : Forward Kinematics of 6-DoF Industrial Robot](https://invisiblenetwork.ai/learn/nptel/112105319/7f19ad58a8e9) (YouTube)
21. [Lecture 21 : Inverse Kinematics: 2 and 3 DoF Planar Manipulator](https://invisiblenetwork.ai/learn/nptel/112105319/4573aff759e8) (YouTube)
22. [Lecture 22 : Spatial Robots - 3R, Cylindrical (RPP), 4-DoF SCARA Robot](https://invisiblenetwork.ai/learn/nptel/112105319/ca190fcbb4ab) (YouTube)
23. [Lecture 23 : Inverse Kinematics of 6-DoF Industrial Robot](https://invisiblenetwork.ai/learn/nptel/112105319/8f29a2938789) (YouTube)
24. [Lecture 24 : Differential Motion Analysis, Velocity, and Robot Jacobian](https://invisiblenetwork.ai/learn/nptel/112105319/c40ac00ef062) (YouTube)
25. [Lecture 25 : Jacobian (2R), Jacobian Inverse, Singularity, and Acceleration Analysis](https://invisiblenetwork.ai/learn/nptel/112105319/8d65f6a74ee9) (YouTube)
26. [Lecture 26 : Installing the Mechanical Arm and Test Run](https://invisiblenetwork.ai/learn/nptel/112105319/679a0f510432) (YouTube)
27. [Lecture 27 : Mastering an Industrial Robot](https://invisiblenetwork.ai/learn/nptel/112105319/29ad242441db) (YouTube)
28. [Lecture 28 : TCP Calibration using 4-Point method and External reference method](https://invisiblenetwork.ai/learn/nptel/112105319/32302a5d648c) (YouTube)
29. [Lecture 29 : TCP Orientation Calibration using World Frame and Two-Point method](https://invisiblenetwork.ai/learn/nptel/112105319/d768e0d9bd3e) (YouTube)
30. [Lecture 30 : Worksurface Calibration](https://invisiblenetwork.ai/learn/nptel/112105319/3162c75608ae) (YouTube)
31. [Lecture 31 : Fixed Tool Calibration: External TCP and Workpiece Calibration](https://invisiblenetwork.ai/learn/nptel/112105319/11b8fed21963) (YouTube)
32. [Lecture 32 : Base Linear Track and External Turn-Table Calibration](https://invisiblenetwork.ai/learn/nptel/112105319/d256891ea549) (YouTube)
33. [Lecture 33 : Link Forces and Moments](https://invisiblenetwork.ai/learn/nptel/112105319/f68d12c67910) (YouTube)
34. [Lecture 34 : Gravity Compensation and External Forces/Torques](https://invisiblenetwork.ai/learn/nptel/112105319/ba5436b857ce) (YouTube)
35. [Lecture 35 : Kinetostatic Measures for Robot Design](https://invisiblenetwork.ai/learn/nptel/112105319/22b19b6e63e0) (YouTube)
36. [Lecture 36 : Introduction to Dynamics, LE Approach, Dynamics of 1DoF System](https://invisiblenetwork.ai/learn/nptel/112105319/73de98114176) (YouTube)
37. [Lecture 37 : Equation of Motion (EoM) for a Two-Link Manipulator using LE](https://invisiblenetwork.ai/learn/nptel/112105319/285d7b08a9d2) (YouTube)
38. [Lecture 38 : Newton-Euler (NE) Approach](https://invisiblenetwork.ai/learn/nptel/112105319/782e1f2dfd57) (YouTube)
39. [Lecture 39 : Equation of motion of a Two-Link manipulator using NE Approach](https://invisiblenetwork.ai/learn/nptel/112105319/bdce88f12240) (YouTube)
40. [Lecture 40 : Payload and Supplementary Load Calibration](https://invisiblenetwork.ai/learn/nptel/112105319/e02dbdebb8de) (YouTube)
41. [Lecture 41 : Identification Experiments](https://invisiblenetwork.ai/learn/nptel/112105319/a588c03a7742) (YouTube)
42. [Lecture 42 : Repeatability Tests and ISO 9283:1998](https://invisiblenetwork.ai/learn/nptel/112105319/3153f9946245) (YouTube)
43. [Lecture 43 : Introduction to Control, Linear Control, Second Order System](https://invisiblenetwork.ai/learn/nptel/112105319/99d00c11540a) (YouTube)
44. [Lecture 44 : Response of a Second Order Linear System](https://invisiblenetwork.ai/learn/nptel/112105319/7350de06c10e) (YouTube)
45. [Lecture 45 : Transfer Function and State-space representation, ODE](https://invisiblenetwork.ai/learn/nptel/112105319/3e71571fd7fa) (YouTube)
46. [Lecture 46 : A Robot Joint : DC Motor Model](https://invisiblenetwork.ai/learn/nptel/112105319/da44539319ec) (YouTube)
47. [Lecture 47 : Feedback control of a robot arm, PID Control, Gain Tuning](https://invisiblenetwork.ai/learn/nptel/112105319/f5feef677785) (YouTube)
48. [Lecture 48 : Workspace and Operator Safety](https://invisiblenetwork.ai/learn/nptel/112105319/c1dbb7cae4fe) (YouTube)
49. [Lecture 49 : Industrial Robot Programming](https://invisiblenetwork.ai/learn/nptel/112105319/d04000aa97db) (YouTube)
50. [Lecture 50 : Course Conclusion and Suggestions](https://invisiblenetwork.ai/learn/nptel/112105319/c372151bb3ba) (YouTube)