Learn · Industrial Robotics: Theories for Implementation
Lecture 44 of 50Week 11
Lecture 44 : Response of a Second Order Linear System
Prof. Arun Dayal Udai · IIT-ISM Dhanbad
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- Industrial Robotics: Theories for Implementation, IIT-ISM Dhanbad (at NPTEL)
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All the lectures
- Lecture 01 : Introduction to Industrial Robots
- Lecture 02 : Anatomy of an Industrial Robot
- Lecture 03 : Technical Specifications of an Industrial Robot
- Lecture 04 : Classification of Robots
- Lecture 05 : Fixed Installation Robots - Serial and Parallel Robots
- Lecture 06 : Introduction to Industrial Controllers, Drives and Systems
- Lecture 07 : DC Motors/Actuators and Drives
- Lecture 08 : Stepper Motors
- Lecture 09 : Brushless DC Motors/Actuators
- Lecture 10 : AC Servo Motors
- Lecture 11 : Introduction to Sensors and Transducers, Position Sensors
- Lecture 12 : Position Sensors: Potentiometers, and Hall-effect. Velocity Sensors
- Lecture 13 : Acceleration Sensors, AC Sensors (Resolvers and Synchros)
- Lecture 14 : Non-contact (Inductive and Capacitive), Force/Torque Sensors
- Lecture 15 : Limit Switches, Classification and Characteristics of Sensors
- Lecture 16 : Degrees of Freedom and Kinematic Transformations : Translation
- Lecture 17 : Pure Rotation, Arbitrary Axis Rotations, Euler Angles
- Lecture 18 : Link and Joint Parameters (DH Notations), 2 and 3 DoF Robots
- Lecture 19 : 3 DoF Cylindrical Robot (Spatial), Spherical Wrist, Cylindrical Robot with Wrist, SCARA Robot
- Lecture 20 : Forward Kinematics of 6-DoF Industrial Robot
- Lecture 21 : Inverse Kinematics: 2 and 3 DoF Planar Manipulator
- Lecture 22 : Spatial Robots - 3R, Cylindrical (RPP), 4-DoF SCARA Robot
- Lecture 23 : Inverse Kinematics of 6-DoF Industrial Robot
- Lecture 24 : Differential Motion Analysis, Velocity, and Robot Jacobian
- Lecture 25 : Jacobian (2R), Jacobian Inverse, Singularity, and Acceleration Analysis
- Lecture 26 : Installing the Mechanical Arm and Test Run
- Lecture 27 : Mastering an Industrial Robot
- Lecture 28 : TCP Calibration using 4-Point method and External reference method
- Lecture 29 : TCP Orientation Calibration using World Frame and Two-Point method
- Lecture 30 : Worksurface Calibration
- Lecture 31 : Fixed Tool Calibration: External TCP and Workpiece Calibration
- Lecture 32 : Base Linear Track and External Turn-Table Calibration
- Lecture 33 : Link Forces and Moments
- Lecture 34 : Gravity Compensation and External Forces/Torques
- Lecture 35 : Kinetostatic Measures for Robot Design
- Lecture 36 : Introduction to Dynamics, LE Approach, Dynamics of 1DoF System
- Lecture 37 : Equation of Motion (EoM) for a Two-Link Manipulator using LE
- Lecture 38 : Newton-Euler (NE) Approach
- Lecture 39 : Equation of motion of a Two-Link manipulator using NE Approach
- Lecture 40 : Payload and Supplementary Load Calibration
- Lecture 41 : Identification Experiments
- Lecture 42 : Repeatability Tests and ISO 9283:1998
- Lecture 43 : Introduction to Control, Linear Control, Second Order System
- Lecture 44 : Response of a Second Order Linear System
- Lecture 45 : Transfer Function and State-space representation, ODE
- Lecture 46 : A Robot Joint : DC Motor Model
- Lecture 47 : Feedback control of a robot arm, PID Control, Gain Tuning
- Lecture 48 : Workspace and Operator Safety
- Lecture 49 : Industrial Robot Programming
- Lecture 50 : Course Conclusion and Suggestions