Industrial Robotics

最后修改 26/09/24

Course content

8 小节 • 103 活动

  • Text and media area (copy)
  • Course Welcome and Introduction Page
  • Announcements
  • Welcome Forum
  • Course Outline and Syllabus
  • About The Instructor
  • Topic 1: Fundamentals and Anatomy of Industrial Robots
  • Topic 1: Overview
  • Topic 1: Introduction
  • Topic 1.1: Foundational Concepts of Robotics
  • 1.1.1 ISO Definition and Laws
  • 1.1.2 Evolution and Generations
  • 1.1.3 Need and Benefits in Industry
  • Topic 1.2: Robot Manipulator Structure
  • 1.2.1 Links and Joints (Kinematic Pairs)
  • 1.2.2 Degrees of Freedom (DOF)
  • 1.2.3 Common Coordinate Systems
  • Topic 1.3: Robot Performance Specifications
  • 1.3.1 Accuracy and Repeatability Theory
  • 1.3.2 Workspace and Work Envelope
  • 1.3.3 Velocity, Acceleration, and Payload
  • Activity
  • ACTIVITY: Flashcard
  • QUIZ (copy)
  • ASSESSMENT: Topic 1 - Interactive MCQ Quiz
  • Topic 2: Theoretical Kinematics (Position Analysis)
  • Topic 2: Overview
  • Topic 2: Introduction
  • Topic 2.1: Spatial Descriptions and Transformations
  • 2.1.1 Reference Frames and Coordinates
  • 2.1.2 Homogeneous Transformation Matrices
  • 2.1.3 Composition of Transformations
  • Topic 2.2: Forward Kinematics
  • 2.2.1 Denavit-Hartenberg (DH) Parameters
  • 2.2.2 Applying the DH Algorithm
  • 2.2.3 Position and Orientation of End-Effector
  • Topic 2.3: Inverse Kinematics (IK) Problem
  • 2.3.1 The IK Challenge
  • 2.3.2 Geometric and Algebraic Solutions
  • 2.3.3 Multiple Solutions and Singularities
  • INTERACTIVE ACTIVITIES
  • ACTIVITY: Flashcard
  • QUIZ (copy)
  • ASSESSMENT: Topic 2 - Interactive MCQ Quiz
  • Topic 3: Robot Dynamics and Motion Planning
  • Topic 3: Overview
  • Topic 3: Introduction
  • Topic 3.1: Velocity and Differential Motion
  • 3.1.1 Differential Kinematics
  • 3.1.2 The Jacobian Matrix
  • 3.1.3 Jacobian and Singularities
  • Topic 3.2: Dynamics Modeling Theory
  • 3.2.1 Newton-Euler Formulation
  • 3.2.2 Lagrange-Euler Formulation
  • Topic 3.3: Trajectory Planning Fundamentals
  • 3.3.1 Joint Space vs. Cartesian Space Trajectories
  • 3.3.2 Polynomial Trajectories (Cubic and Quintic)
  • INTERACTIVE ACTIVITIES
  • ACTIVITY: Flashcard
  • QUIZ (copy)
  • ASSESSMENT: Topic 3 - Interactive MCQ Quiz
  • Topic 4: End-Effectors and Sensing Systems
  • Topic 4: Overview
  • Topic 4: Introduction
  • Topic 4.1: Theory of End-Effectors (Grippers and Tools)
  • 4.1.1 Gripper Types and Actuation Principles
  • 4.1.2 Force Analysis in Gripping
  • 4.1.3 Quick-Change Systems and Tool Center Point (TCP)
  • Topic 4.2: Robot Sensor Fundamentals
  • 4.2.1 Internal vs. External Sensors
  • 4.2.2 Position and Velocity Sensing Theory
  • 4.2.3 Tactile and Force/Torque Sensing
  • Topic 4.3: Machine Vision Theory
  • 4.3.1 Fundamentals of Image Acquisition
  • 4.3.2 Image Processing and Analysis Theory
  • 4.3.3 Vision-Guided Robotics (VGR)
  • INTERACTIVE ACTIVITIES
  • ACTIVITY: Flashcard
  • ASSESSMENT: Topic 4 - Interactive MCQ Quiz (copy)
  • ASSESSMENT: Topic 4 - Interactive MCQ Quiz
  • Topic 5: Control Systems and Programming Theory
  • Topic 5: Overview
  • Topic 5: Introduction
  • Topic 5.1: Robot Control Architectures
  • 5.1.1 Open-Loop vs. Closed-Loop Control
  • 5.1.2 Hierarchical Control Structure
  • 5.1.3 Point-to-Point (PTP) vs. Continuous Path (CP) Control
  • Topic 5.2: Joint-Level Control Theory
  • 5.2.1 Linear Control System Modeling
  • 5.2.2 Proportional-Integral-Derivative (PID) Control
  • 5.2.3 Feedforward and Computed Torque Control
  • Topic 5.3: Programming and Operating Principles
  • 5.3.1 Robot Programming Paradigms
  • 5.3.2 Coordinate Frames in Programming
  • 5.3.3 Introduction to Robot Operating System (ROS) Principles
  • INTERACTIVE ACTIVITIES
  • ACTIVITY: Flashcard
  • ASSESSMENT: Topic 5 - Interactive MCQ Quiz (copy)
  • ASSESSMENT: Topic 5 - Interactive MCQ Quiz
  • Final Assessment
  • Congratulations & Next Steps
  • Course Feedback Survey
  • Course Evaluation Survey