Teaching & Academics
Engineering
Robotics
Industrial Robotics
4.4 (566 ratings)
Course Ratings are calculated from individual students’ ratings and a variety of other signals, like age of rating and reliability, to ensure that they reflect course quality fairly and accurately.
2,717 students enrolled

Industrial Robotics

Mathematical models and practical applications
4.4 (566 ratings)
Course Ratings are calculated from individual students’ ratings and a variety of other signals, like age of rating and reliability, to ensure that they reflect course quality fairly and accurately.
2,717 students enrolled
Created by Fabrizio Frigeni
Last updated 9/2019
English
English, Polish [Auto], 1 more
  • Romanian [Auto]
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Industrial Robotics
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This course includes
  • 6 hours on-demand video
  • 4 downloadable resources
  • Full lifetime access
  • Access on mobile and TV
  • Certificate of Completion
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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!

Who this course is for:
  • Students and engineers interested in understanding the mathematical models of industrial robots and their most common control methods.
Course content
Expand all 63 lectures 05:59:49
+ – Industrial Robotics
2 lectures 08:15

Learn to control industrial robots with minimal prerequisites

Goals of this class
Preview 03:29

What we cover in this class and what we don't.

Table of contents
Preview 04:46
+ – Introduction
4 lectures 10:18

What are industrial robots and what are they used for?

Industrial Robots
Preview 01:48

Serial vs. Parallel kinematics

Mechanical Structures
02:18

Some nomenclature: base, joints, TCP

6-axes Arm
03:33

More nomenclature: movements types, speed definitions, and workspace

Movements
02:39
+ – Frames
6 lectures 24:42

Coordinate systems: global, machine, tool, workpiece

Frames Definitions
02:18

Frames translations and rotations

Frames Operations
05:25

Composition and decomposition of a rotation matrix into Euler angles

Euler Angles
04:56

Rotation matrix properties

Properties of Rotations
05:30

Combining translations and rotations into a single homogeneous transformation

Homogeneous Transformations
05:35

Review of frame operations

Recap
00:58
+ – Direct Kinematics
5 lectures 14:19

General solution of forward kinematics for serial chains

Kinematic Model
03:48

Solving the forward kinematics of a 6-axes robot in 6 steps

From Joints to TCP
04:45

Test your code against this example

Test
01:30

Add a base frame and a tool to the forward kinematics solution

Base Frame and Tool
01:30

Introduce mechanical coupling between joint axes

Coupling
02:46
+ – Inverse Kinematics
7 lectures 28:09

Can inverse kinematics be solved in closed-form?

General Problem
03:31

Multiple solutions and singularities

Non-unique Solution
06:38

Solving the first half of the inverse kinematics: Joints 1-2-3

From TCP to Joints: Arm
09:19

Solving the second half of the inverse kinematics: Joints 4-5-6

From TCP to Joints: Wrist
05:08

Test your own code against this example

Test
00:54

Add a base frame and a tool to the inverse kinematics solution

Base Frame and Tool
01:36

Compensate for mechanical coupling between joint axes

Coupling
01:03
+ – Path Planning
8 lectures 56:49

Define a geometrical path in space

Planning Movements
02:09

Point-To-Point movements: equations and properties

Point To Point
05:06

Interpolating in the path space: position and orientation

Path Interpolation
03:30

Introducing quaternions, their properties and the SLERP interpolation

Quaternions
10:29

Parametric equations for lines and circles in space

Lines and Circles
08:24

Introducing cubic Bezier splines and DeCasteljeu's algorithm

Splines
10:23

Rounding edges with quartic Bezier splines. Defining continuity of a transition.

Transitions
11:41

Calculate the length of a path and modify it at run-time

Path Length and Corrections
05:07
+ – Workspace Monitoring
4 lectures 26:58

Define the workspace and reduce complexity

Monitoring the Workspace
04:34

Intersection between lines and cuboids. Wireframe model. Safe orientation cone.

Safe and Forbidden Zones
07:38

Introducing capsules for self-collision detection.

Self-Collision
04:24

Introduce exclusive zones and monitor distance between robots. Calculate distance between two capsules.

Multi-Robot Monitoring
10:22
+ – Trajectory Generation
7 lectures 45:07

Introduce trajectory as function of path in time

Path vs. Trajectory
06:16

Use the standard S-curve to generate jerk-limited trajectories

S-curve
07:19

Explore alternatives to the S-curve: sinusoidal profiles and Bezier profiles 

Alternative Profiles
04:43

Modify path speed to avoid violations of joints dynamic limits

Optimizing Trajectories
05:06

Introduce the Jacobian to calculate path twist given joints speed

Differential Kinematics
08:42

Use Gaussian filter to smooth trajectories in the time domain

Filtering
07:27

Joints, Cartesian and angular speed calculations

Speed Definitions
05:34
+ – Statics and Dynamics
4 lectures 35:53

Use the Jacobian to transform the TCP wrench into joints torques. Introduce manipulability ellipsoid.

Statics
09:05

Dynamic model: concept and parameters identification

Dynamics
10:05

Overview of two common methods used to solve inverse dynamics

Langrange vs Newton
05:44

Typical applications of dynamic model: motor sizing; torque feed-forward control; trajectory optimization; teach by hand.

Applications
10:59
+ – Robot Programming
1 lecture 05:50

Introduce list of common commands used to program robots.

The Interpreter
05:50