Lecture 1 - COBOTS, Its Need and Evolution, Levels of Collaboration, Applications
Lecture 2 - Collaborative Modes, Contacts, Bio-Mechanical Limits, and ISO Standards
Lecture 3 - The Process of Risk Assessment
Lecture 4 - Evolution of Force Control, Technology Transition, and the Hardware
Lecture 5 - Constrained Motion Task and Distinguishing Features of a COBOT
Lecture 6 - DC Servo Motors, Position, Velocity and Torque Control
Lecture 7 - BLDC Motors and PMSM AC Servos
Lecture 8 - Sensors - Position, Velocity, and Acceleration Sensors
Lecture 9 - Force/Torque Sensor, Planetary Gearbox and Harmonic Drives
Lecture 10 - Industrial Field Bus, Drives and Devices, and Safe Workspaces
Lecture 11 - Degrees of Freedom, Matrix Representations, and Kinematic Transformations
Lecture 12 - Rotation Matrix, Arbitrary Axis Rotation, and Euler Angles
Lecture 13 - Robot Frames, DH Parameters, Link Transformation Matrix, and Forward Kinematics
Lecture 14 - Forward Kinematics of Industrial COBOTS
Lecture 15 - Inverse Kinematics, Analysis of 2R Planar, 3R Spatial and SCARA
Lecture 16 - Inverse Kinematic Analysis of a 6-DoF Wrist Partitioned Arm
Lecture 17 - Inverse Kinematic Analysis of UR Arms
Lecture 18 - Differential Motion Analysis: Robot Jacobian, Velocity and Acceleration Analysis
Lecture 19 - Inverse Kinematics of 7-DoF KUKA LBR iiwa Robot and Null Space
Lecture 20 - Link Forces and Moments
Lecture 21 - Gravity Compensation, and External Forces/Torques
Lecture 22 - Kinetostatic Measures for Robot Design
Lecture 23 - MATLAB Demonstrations
Lecture 24 - Introduction to Dynamics, LE Approach, Dynamics of 1 DoF System
Lecture 25 - Dynamic Equation of Motion of a Two-Link Manipulator using Lagrange-Euler (LE) Approach
Lecture 26 - Introduction to Newton-Euler (NE) and Recursive-NE Approach
Lecture 27 - Dynamic Equation of Motion of a Two-Link Manipulator using Newton-Euler (NE) Approach
Lecture 28 - Introduction to Control, Linear Control, Second Order System
Lecture 29 - Response of a Second Order Linear System
Lecture 30 - Transfer Function and State-space representation, ODE
Lecture 31 - A Robot Joint: DC Motor Model
Lecture 32 - Feedback control of a robot arm, PID Control, Gain Tuning
Lecture 33 - External Force Control Loop and Admittance Control
Lecture 34 - MATLAB Demonstrations - Preparing the 3R Spatial Arm for Force Control
Lecture 35 - Hybrid and Stiffness Force Controller
Lecture 36 - Impedance Controller and its variants
Lecture 37 - Course Conclusion
