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30-Day Money-Back Guarantee

This course includes:

  • 6 hours on-demand video
  • 4 downloadable resources
  • Full lifetime access
  • Access on mobile and TV
Teaching & Academics Engineering Robotics

Industrial Robotics

Mathematical models and practical applications
Rating: 4.5 out of 54.5 (678 ratings)
3,457 students
Created by Fabrizio Frigeni
Last updated 9/2019
English
English, Polish [Auto], 
30-Day Money-Back Guarantee

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.
Curated for the Udemy for Business collection

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

15 sections • 63 lectures • 5h 59m total length

  • Preview03:29
  • Preview04:46

  • Preview01:48
  • Mechanical Structures
    02:18
  • 6-axes Arm
    03:33
  • Movements
    02:39

  • Frames Definitions
    02:18
  • Frames Operations
    05:25
  • Euler Angles
    04:56
  • Properties of Rotations
    05:30
  • Homogeneous Transformations
    05:35
  • Recap
    00:58

  • Kinematic Model
    03:48
  • From Joints to TCP
    04:45
  • Test
    01:30
  • Base Frame and Tool
    01:30
  • Coupling
    02:46

  • General Problem
    03:31
  • Non-unique Solution
    06:38
  • From TCP to Joints: Arm
    09:19
  • From TCP to Joints: Wrist
    05:08
  • Test
    00:54
  • Base Frame and Tool
    01:36
  • Coupling
    01:03

  • Planning Movements
    02:09
  • Point To Point
    05:06
  • Path Interpolation
    03:30
  • Quaternions
    10:29
  • Lines and Circles
    08:24
  • Splines
    10:23
  • Transitions
    11:41
  • Path Length and Corrections
    05:07

  • Monitoring the Workspace
    04:34
  • Safe and Forbidden Zones
    07:38
  • Self-Collision
    04:24
  • Multi-Robot Monitoring
    10:22

  • Path vs. Trajectory
    06:16
  • S-curve
    07:19
  • Alternative Profiles
    04:43
  • Optimizing Trajectories
    05:06
  • Differential Kinematics
    08:42
  • Filtering
    07:27
  • Speed Definitions
    05:34

  • Statics
    09:05
  • Dynamics
    10:05
  • Langrange vs Newton
    05:44
  • Applications
    10:59

  • The Interpreter
    05:50

Instructor

Fabrizio Frigeni
Engineer
Fabrizio Frigeni
  • 4.4 Instructor Rating
  • 865 Reviews
  • 13,271 Students
  • 2 Courses

International applications engineer with extensive experience in automation, robotics, computer vision, and machine learning. Holds a doctorate degree in electrical engineering and over a decade of technical hands-on work with industrial robots all over the globe. Besides actively modeling and programming robots, also enjoys sharing knowledge and tutoring students and engineers.  

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