Collaborative Robots (COBOTS): Theory and Practice
Online
8 WeeksQuick Facts
| Medium Of Instructions | Mode Of Learning | Mode Of Delivery |
|---|---|---|
| English | Self Study | Video and Text Based |
Courses and Certificate Fees
| Fees Informations | Certificate Availability | Certificate Providing Authority |
|---|---|---|
| INR 1000 | yes | IIT ISM Dhanbad |
The Syllabus
- Introduction to Cobots, Evolution of Force Control and Cobots (The technological difference), Unique capabilities of a Cobot. Understanding constrained motion tasks.
- Applications: Material Handling, Machine tending, Process tasks, Finishing tasks, Quality inspection, etc.
- Levels of Collaboration, Safety standards, and Risk Assessment.
- Actuators and Drives: BLDC and Synchronous AC servo motors, Servo drives, integrated hardware controllers and communication interfaces.
- Sensors: Position, velocity, acceleration, and force sensors.
- Transmission systems and Joint Design: Harmonic Drives, Gear Box and Transmission systems.
- Design of Safe workspaces: Safety triggers and functions, Workspace monitoring and marking forbidden zones, External and Internal Safety devices, Norms and Regulations, and Robot System design: Edges, Body and the Joints.
- DOF of a Robot Manipulator. Kinematic Transformations: Homogeneous Transformation, Denavit-Hartenberg (DH) Parameters; Forward Kinematics.
- Inverse Kinematics.
- Differential Motion: link velocity and Acceleration analysis, Jacobian matrix and Singularity.
- Statics: Link forces and moments; Recursive formulation,
- Role of Jacobian: Force and Velocity ellipsoid.
- Gravity Compensation and Lead through programming
- Robot Dynamics: Euler-Lagrange formulation, Newton-Euler formulation.
- Robot Control: Transfer function and state-space representation of a robotic joint, feedback control system, Proportional, Integral, and Derivative (PID) control. Gain tuning.
- Force control of Industrial Robots: Stiffness Control, Admittance control, Admittance Control and Hybrid control. Advanced force control approaches.
- Demonstrating special features of a Cobot: Gravity compensation and Lead through programming,
- Programmable compliance, Arbitrary reference compliance, Programmed path compliance, Kinematic redundancy. Case study: Approaches for an Assembly task.