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Quick Facts

Medium Of InstructionsMode Of LearningMode Of Delivery
EnglishSelf StudyVideo and Text Based

Courses and Certificate Fees

Fees InformationsCertificate AvailabilityCertificate Providing Authority
INR 1000yesIIT 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.

Instructors

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