Learn · Collaborative Robots (COBOTS): Theory and Practice

Lecture 32 of 39Week: 07

Lecture 32: Feedback control of a robot arm, PID Control, Gain Tuning

Prof. Arun Dayal Udai · IIT-ISM Dhanbad

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Collaborative Robots (COBOTS): Theory and Practice, IIT-ISM Dhanbad (at NPTEL)
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CC BY-NC-SA, as NPTEL states it. Non-commercial use only.
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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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All the lectures

  1. Lecture 01: COBOTS, Its Need and Evolution, Levels of Collaboration, Applications Video
  2. Lecture 02: Collaborative Modes, Contacts, Bio-Mechanical Limits, and ISO Standards Video
  3. Lecture 03: The Process of Risk Assessment Video
  4. Lecture 04: Evolution of Force Control, Technology Transition, and the Hardware Video
  5. Lecture 05: Constrained Motion Task and Distinguishing Features of a COBOT Video
  6. Lecture 06: DC Servo Motors, Position, Velocity and Torque Control Video
  7. Lecture 07: BLDC Motors and PMSM AC Servos Video
  8. Lecture 08: Sensors - Position, Velocity, and Acceleration Sensors Video
  9. Lecture 09: Force/Torque Sensor, Planetary Gearbox and Harmonic Drives Video
  10. Lecture 10: Industrial Field Bus, Drives and Devices, and Safe Workspaces Video
  11. Lecture 11: Degrees of Freedom, Matrix Representations, and Kinematic Transformations Video
  12. Lecture 12: Rotation Matrix, Arbitrary Axis Rotation, and Euler Angles Video
  13. Lecture 13: Robot Frames, DH Parameters, Link Transformation Matrix, and Forward Kinematics" Video
  14. Lecture 14: Forward Kinematics of Industrial COBOTS Video
  15. Lecture 15: Inverse Kinematics, Analysis of 2R Planar, 3R Spatial and SCARA Video
  16. Lecture 16: Inverse Kinematic Analysis of a 6-DoF Wrist Partitioned Arm Video
  17. Lecture 17: Inverse Kinematic Analysis of UR Arms Video
  18. Lecture 18: Differential Motion Analysis: Robot Jacobian, Velocity and Acceleration Analysis Video
  19. Lecture 19: Inverse Kinematics of 7-DoF KUKA LBR iiwa Robot and Null Space Video
  20. Lecture 20: Link Forces and Moments Video
  21. Lecture 21: Gravity Compensation, and External Forces/Torques Video
  22. Lecture 22: Kinetostatic Measures for Robot Design Video
  23. Lecture 23: MATLAB Demonstrations Video
  24. Lecture 24: Introduction to Dynamics, LE Approach, Dynamics of 1 DoF System Video
  25. Lecture 25: Dynamic Equation of Motion of a Two-Link Manipulator using Lagrange-Euler (LE) Approach Video
  26. Lecture 26: Introduction to Newton-Euler (NE) and Recursive-NE Approach Video
  27. Lecture 27: Dynamic Equation of Motion of a Two-Link Manipulator using Newton-Euler (NE) Approach Video
  28. Lecture 28: Introduction to Control, Linear Control, Second Order System Video
  29. Lecture 29: Response of a Second Order Linear System Video
  30. Lecture 30: Transfer Function and State-space representation, ODE Video
  31. Lecture 31: A Robot Joint: DC Motor Model Video
  32. Lecture 32: Feedback control of a robot arm, PID Control, Gain Tuning Video
  33. Lecture 33: External Force Control Loop and Admittance Control Video
  34. Lecture 34: MATLAB Demonstrations- Preparing the 3R Spatial Arm for Force Control Video
  35. Lecture 35: Hybrid and Stiffness Force Controller Video
  36. Lecture 36: Impedance Controller and its variants Video
  37. Lecture 37: Course Conclusion Video
  38. Live Session 20-03-2025 Video
  39. Live Session 17-04-2025 Video