Industrial Robotics

Mathematical models and practical applications

What you'll learn

Learn all the theoretical and practical details to master industrial robotics: solve kinematic models; plan geometrical paths and dynamic trajectories; tune motion control systems; calibrate tools and cells.

We focus on a standard 6-axes anthropomorphic robot, because is one of the most commonly used robots in the industry, and it is also one of the most complicated ones, so that once you understand how this one works you should be able to solve models for all the others.

Requirements

This class is not too complicated and you should be able to follow along quite easily if you have a good base of mathematics: specifically, trigonometry, linear algebra and some calculus.

Basic programming skills would also be nice, but are not strictly required. This is not a programming class and you will be able to follow along until the end even if you don’t program a single line of code, but for sure it would be much nicer and beneficial for you if you implement the models we study here into real code, and test them on a real or simulated robot. C is normally the language of choice in the industry, but the final call is totally up to you.

Description

Learn how an industrial 6-axes anthropomorphic robot works. We will start by building its kinematic model step-by-step, then plan geometrical paths and optimize motion trajectories. We will learn how to correctly size the electric motors and understand the fine-tuning procedures for the servo drives. We will describe calibration procedures for the arm, tool and cell, and finally generate a realistic digital twin for your simulations!New bonus lecture at the end: kinematic model of UR robot!

Overview

Section 1: Industrial Robotics

Lecture 1 Goals of this class

Lecture 2 Table of contents

Section 2: Introduction

Lecture 3 Industrial Robots

Lecture 4 Mechanical Structures

Lecture 5 6-axes Arm

Lecture 6 Movements

Section 3: Frames

Lecture 7 Frames Definitions

Lecture 8 Frames Operations

Lecture 9 Euler Angles

Lecture 10 Properties of Rotations

Lecture 11 Homogeneous Transformations

Lecture 12 Recap

Section 4: Direct Kinematics

Lecture 13 Kinematic Model

Lecture 14 From Joints to TCP

Lecture 15 Test

Lecture 16 Base Frame and Tool

Lecture 17 Coupling

Section 5: Inverse Kinematics

Lecture 18 General Problem

Lecture 19 Non-unique Solution

Lecture 20 From TCP to Joints: Arm

Lecture 21 From TCP to Joints: Wrist

Lecture 22 Test

Lecture 23 Base Frame and Tool

Lecture 24 Coupling

Section 6: Path Planning

Lecture 25 Planning Movements

Lecture 26 Point To Point

Lecture 27 Path Interpolation

Lecture 28 Quaternions

Lecture 29 Lines and Circles

Lecture 30 Splines

Lecture 31 Transitions

Lecture 32 Path Length and Corrections

Section 7: Workspace Monitoring

Lecture 33 Monitoring the Workspace

Lecture 34 Safe and Forbidden Zones

Lecture 35 Self-Collision

Lecture 36 Multi-Robot Monitoring

Section 8: Trajectory Generation

Lecture 37 Path vs. Trajectory

Lecture 38 S-curve

Lecture 39 Alternative Profiles

Lecture 40 Optimizing Trajectories

Lecture 41 Differential Kinematics

Lecture 42 Filtering

Lecture 43 Speed Definitions

Section 9: Statics and Dynamics

Lecture 44 Statics

Lecture 45 Dynamics

Lecture 46 Langrange vs Newton

Lecture 47 Applications

Section 10: Robot Programming

Lecture 48 The Interpreter

Section 11: Motion Control

Lecture 49 Hardware Topology

Lecture 50 Controller

Lecture 51 Visualization

Lecture 52 Servo Drives

Lecture 53 Servo Drives Tuning

Lecture 54 Motors

Lecture 55 Motors Sizing

Section 12: Calibration

Lecture 56 Robot Calibration

Lecture 57 Tool Calibration

Lecture 58 Cell Calibration

Section 13: Simulations

Lecture 59 Digital Twin

Lecture 60 Unity

Lecture 61 Scripting

Section 14: Conclusion

Lecture 62 Conclusion

Section 15: UR Kinematics

Lecture 63 UR Kinematics

Students and engineers interested in understanding the mathematical models of industrial robots and their most common control methods.