Intro - Introduction to Robotics

Summary

Professor Ashish Datta from IIT Kanpur introduces the 'Introduction to Robotics' course, aimed at students and industry professionals interested in robotics. The course covers fundamental topics like robotics mathematics, kinematics, dynamics, control systems, and robot programming. Key areas include transformations, forward and inverse kinematics, dynamics, sensors, actuators, and control systems. The course concludes with robot programming using Val2 for industrial robots. This basic yet comprehensive course is based on the standard textbook 'Introduction to Robotics' by Craig, and it includes lectures, assignments, and a final exam for both students and industry participants.

Takeaways

• 😀 Professor Ashish Datta introduces the 'Introduction to Robotics' course, aimed at both students and industry professionals.
• 😀 The course is designed for students pursuing robotics careers (Masters/PhD) and for industry personnel interested in applying robotics in their work.
• 😀 The course is divided into five parts: basic mathematics of robotics, kinematics, dynamics, control systems, and programming.
• 😀 The course begins by exploring the relationship between automation and robotics and how robotics fits within the broader field of automation.
• 😀 Students will learn about different types of joints used in robotic systems and how they contribute to robotic movement.
• 😀 The course covers transformations, explaining how to relate different frames when a robot moves in space.
• 😀 After transformations, the course will cover forward and inverse kinematics, essential concepts in robotic motion.
• 😀 Dynamics is explored to understand the relationship between force and motion, essential for calculating joint torques.
• 😀 The course also includes the design of motors based on dynamic analysis, essential for robotic system design.
• 😀 Control systems are covered, including proportional, proportional-derivative, and proportional-integral-derivative controllers.
• 😀 The course concludes with robot programming using Val2 programming, a widely used language for controlling industrial robots.
• 😀 The course includes weekly lectures, assignments, and a final exam to test knowledge gained throughout the course.
• 😀 The recommended textbook for the course is 'Introduction to Robotics' by Craig, a standard textbook used globally.

Q & A

Who is the instructor for the course 'Introduction to Robotics'?

The instructor for the course is Professor Ashish Datta, a professor in the Department of Mechanical Engineering at IIT Kanpur and the coordinator of the Center for Mechatronics.

What is the main target audience for the 'Introduction to Robotics' course?

The course is targeted at both students interested in pursuing robotics as a career, especially those planning for masters or Ph.D. degrees, as well as industry professionals looking to use robots in their respective industries or purchase robots for specific applications.

What are the five main parts of the 'Introduction to Robotics' course?

The course is divided into five parts: 1) Basic mathematics of robotics, 2) Kinematics, 3) Dynamics, 4) Control systems, and 5) Programming.

What mathematical concept is introduced at the start of the course?

The course starts with the basic mathematics of robotics, specifically transformations, which helps in relating one frame to another when a robot moves in space.

What topics are covered under kinematics in the course?

Under kinematics, the course covers forward kinematics and inverse kinematics, both of which are essential for understanding robot movement and positioning.

What is the focus of the dynamics section of the course?

The dynamics section deals with the relationship between force and motion, helping in the calculation of torques acting at the robot joints during movement. This is important for motor design and robot system estimation.

What control systems will be covered in this robotics course?

The course will cover several types of control systems, including proportional controllers, proportional derivative controllers, and proportional integral derivative controllers, which are used to control robotic linkages.

What is the significance of studying dynamics in robotics?

Studying dynamics is crucial to understanding how the forces during a robot’s movement affect the control system, helping to design more accurate and effective control mechanisms.

What robot programming language will be taught in the course?

The course will focus on teaching VAL2 programming, which is widely used to control industrial robots.

What textbook is used for the course?

The course will follow the textbook 'Introduction to Robotics' by Craig, which is a standard textbook used worldwide for robotics education.