# Collaborative Robots (COBOTS): Theory and Practice - 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/112105621) - Licence: [CC BY-NC-SA](https://nptel.ac.in/faq) (Non-commercial use only.) - Syllabus: [at the source](https://nptel.ac.in/courses/112105621) - Who can watch: Tweens profiles and older (sources give no ratings; placed by Invisible Network from the source's own words) ## Lectures 1. [Lecture 01: COBOTS, Its Need and Evolution, Levels of Collaboration, Applications](https://invisiblenetwork.ai/learn/nptel/112105621/853fc4c635db) (Video) 2. [Lecture 02: Collaborative Modes, Contacts, Bio-Mechanical Limits, and ISO Standards](https://invisiblenetwork.ai/learn/nptel/112105621/9ca842f96b25) (Video) 3. [Lecture 03: The Process of Risk Assessment](https://invisiblenetwork.ai/learn/nptel/112105621/31a9098306ea) (Video) 4. [Lecture 04: Evolution of Force Control, Technology Transition, and the Hardware](https://invisiblenetwork.ai/learn/nptel/112105621/4917f99cfba5) (Video) 5. [Lecture 05: Constrained Motion Task and Distinguishing Features of a COBOT](https://invisiblenetwork.ai/learn/nptel/112105621/7a1be16a72a9) (Video) 6. [Lecture 06: DC Servo Motors, Position, Velocity and Torque Control](https://invisiblenetwork.ai/learn/nptel/112105621/eb8f768fa2c1) (Video) 7. [Lecture 07: BLDC Motors and PMSM AC Servos](https://invisiblenetwork.ai/learn/nptel/112105621/f6e17a9ce38e) (Video) 8. [Lecture 08: Sensors - Position, Velocity, and Acceleration Sensors](https://invisiblenetwork.ai/learn/nptel/112105621/67cbb30e084a) (Video) 9. [Lecture 09: Force/Torque Sensor, Planetary Gearbox and Harmonic Drives](https://invisiblenetwork.ai/learn/nptel/112105621/ca7d396d739f) (Video) 10. [Lecture 10: Industrial Field Bus, Drives and Devices, and Safe Workspaces](https://invisiblenetwork.ai/learn/nptel/112105621/1111cab82fd6) (Video) 11. [Lecture 11: Degrees of Freedom, Matrix Representations, and Kinematic Transformations](https://invisiblenetwork.ai/learn/nptel/112105621/a6b3d3b78e45) (Video) 12. [Lecture 12: Rotation Matrix, Arbitrary Axis Rotation, and Euler Angles](https://invisiblenetwork.ai/learn/nptel/112105621/15b75b06f9cd) (Video) 13. [Lecture 13: Robot Frames, DH Parameters, Link Transformation Matrix, and Forward Kinematics"](https://invisiblenetwork.ai/learn/nptel/112105621/6608160d68a3) (Video) 14. [Lecture 14: Forward Kinematics of Industrial COBOTS](https://invisiblenetwork.ai/learn/nptel/112105621/0c12a1f7ed8e) (Video) 15. [Lecture 15: Inverse Kinematics, Analysis of 2R Planar, 3R Spatial and SCARA](https://invisiblenetwork.ai/learn/nptel/112105621/1f58f76b5275) (Video) 16. [Lecture 16: Inverse Kinematic Analysis of a 6-DoF Wrist Partitioned Arm](https://invisiblenetwork.ai/learn/nptel/112105621/f919602280e0) (Video) 17. [Lecture 17: Inverse Kinematic Analysis of UR Arms](https://invisiblenetwork.ai/learn/nptel/112105621/1998c5f8d3b8) (Video) 18. [Lecture 18: Differential Motion Analysis: Robot Jacobian, Velocity and Acceleration Analysis](https://invisiblenetwork.ai/learn/nptel/112105621/ced8b77cc410) (Video) 19. [Lecture 19: Inverse Kinematics of 7-DoF KUKA LBR iiwa Robot and Null Space](https://invisiblenetwork.ai/learn/nptel/112105621/6c9bcd592c7f) (Video) 20. [Lecture 20: Link Forces and Moments](https://invisiblenetwork.ai/learn/nptel/112105621/f3c3df405fa4) (Video) 21. [Lecture 21: Gravity Compensation, and External Forces/Torques](https://invisiblenetwork.ai/learn/nptel/112105621/bcf9058eefa0) (Video) 22. [Lecture 22: Kinetostatic Measures for Robot Design](https://invisiblenetwork.ai/learn/nptel/112105621/0c8835546d46) (Video) 23. [Lecture 23: MATLAB Demonstrations](https://invisiblenetwork.ai/learn/nptel/112105621/24854f426bc1) (Video) 24. [Lecture 24: Introduction to Dynamics, LE Approach, Dynamics of 1 DoF System](https://invisiblenetwork.ai/learn/nptel/112105621/b03168275b71) (Video) 25. [Lecture 25: Dynamic Equation of Motion of a Two-Link Manipulator using Lagrange-Euler (LE) Approach](https://invisiblenetwork.ai/learn/nptel/112105621/72dca6e2d63e) (Video) 26. [Lecture 26: Introduction to Newton-Euler (NE) and Recursive-NE Approach](https://invisiblenetwork.ai/learn/nptel/112105621/f2e21d4cd7c4) (Video) 27. [Lecture 27: Dynamic Equation of Motion of a Two-Link Manipulator using Newton-Euler (NE) Approach](https://invisiblenetwork.ai/learn/nptel/112105621/ce3fafc7c3b8) (Video) 28. [Lecture 28: Introduction to Control, Linear Control, Second Order System](https://invisiblenetwork.ai/learn/nptel/112105621/ac852bfdc944) (Video) 29. [Lecture 29: Response of a Second Order Linear System](https://invisiblenetwork.ai/learn/nptel/112105621/ce4df0a1a892) (Video) 30. [Lecture 30: Transfer Function and State-space representation, ODE](https://invisiblenetwork.ai/learn/nptel/112105621/ebd4e8a667e0) (Video) 31. [Lecture 31: A Robot Joint: DC Motor Model](https://invisiblenetwork.ai/learn/nptel/112105621/35b895436092) (Video) 32. [Lecture 32: Feedback control of a robot arm, PID Control, Gain Tuning](https://invisiblenetwork.ai/learn/nptel/112105621/0e4fd2f6ad3a) (Video) 33. [Lecture 33: External Force Control Loop and Admittance Control](https://invisiblenetwork.ai/learn/nptel/112105621/10309aaf46cc) (Video) 34. [Lecture 34: MATLAB Demonstrations- Preparing the 3R Spatial Arm for Force Control](https://invisiblenetwork.ai/learn/nptel/112105621/bf88c0e0eed3) (Video) 35. [Lecture 35: Hybrid and Stiffness Force Controller](https://invisiblenetwork.ai/learn/nptel/112105621/5fd4a887c27c) (Video) 36. [Lecture 36: Impedance Controller and its variants](https://invisiblenetwork.ai/learn/nptel/112105621/5882b1e0447d) (Video) 37. [Lecture 37: Course Conclusion](https://invisiblenetwork.ai/learn/nptel/112105621/2412a98da2cf) (Video) 38. [Live Session 20-03-2025](https://invisiblenetwork.ai/learn/nptel/112105621/853fc4c635db-2) (Video) 39. [Live Session 17-04-2025](https://invisiblenetwork.ai/learn/nptel/112105621/9ca842f96b25-2) (Video)