Industrial Robotics
- Goals of this class
- Table of contents
Introduction
- Industrial Robots
- Mechanical Structures
- 6-axes Arm
- Movements
Frames
- Frames Definitions
- Frames Operations
- Euler Angles
- Properties of Rotations
- Homogeneous Transformations
- Recap
Direct Kinematics
- Kinematic Model
- From Joints to TCP
- Test
- Base Frame and Tool
- Coupling
Inverse Kinematics
- General Problem
- Non-unique Solution
- From TCP to Joints: Arm
- From TCP to Joints: Wrist
- Test
- Base Frame and Tool
- Coupling
Path Planning
- Planning Movements
- Point To Point
- Path Interpolation
- Quaternions
- Lines and Circles
- Splines
- Transitions
- Path Length and Corrections
Workspace Monitoring
- Monitoring the Workspace
- Safe and Forbidden Zones
- Self-Collision
- Multi-Robot Monitoring
Trajectory Generation
- Path vs. Trajectory
- S-curve
- Alternative Profiles
- Optimizing Trajectories
- Differential Kinematics
- Filtering
- Speed Definitions
Statics and Dynamics
- Statics
- Dynamics
- Langrange vs Newton
- Applications
Robot Programming
- The Interpreter
Motion Control
- Hardware Topology
- Controller
- Visualization
- Servo Drives
- Servo Drives Tuning
- Motors
- Motors Sizing
Calibration
- Robot Calibration
- Tool Calibration
- Cell Calibration
Simulations
- Digital Twin
- Unity
- Scripting
Conclusion
- Conclusion
UR Kinematics
- UR Kinematics
