Collaborative Robot Applications¶
Course Description¶
This course covers the fundamental to advanced programming skills of collaborative robots, aiming to equip students with the capability to design and implement various work processes using collaborative robots. The curriculum encompasses the entire process from robot system installation, operation, programming, to the implementation of actual work processes.
Learning Objectives¶
Upon successful completion of this course, students will be able to:
- Install and configure the hardware and software systems of collaborative robots.
- Understand the basic motion commands and programming languages of collaborative robots.
- Set safety limits and utilize collision detection features to ensure the safety of operators.
- Design and implement work processes (e.g., Pick & Place, palletizing) using collaborative robots.
- Utilize advanced programming techniques (e.g., DRL, compliance control, force control) to perform complex tasks.
Prerequisites¶
- Basic understanding of computer systems.
- Introductory knowledge of programming.
Course Outline¶
Week 1: Understanding Robot Systems, Getting Started with Collaborative Robots¶
Outline:
- Hardware installation, system environment setup, DART-Platform installation and connection, Servo On & safety recovery.
Key Learning Outcomes:
- Understand the basic components and operating principles of collaborative robot systems.
- Learn basic safety and recovery procedures.
Week 2: Understanding Robot Systems (Coordinate Systems, Operation, Interfaces)¶
Outline:
- Understanding coordinate systems, operating methods, interfaces (IO_Digital, etc.), work cell manager settings, feature settings.
Key Learning Outcomes:
- Understand robot coordinate systems and operating methods.
- Familiarize with various interfaces and setting methods.
Weeks 3-4: Task Builder Program Environment and Basic Motion Commands¶
Outline:
- Understanding basic motion commands, setting safety limits, utilizing Pick & Place Skill motions (Movel, MoveL).
Key Learning Outcomes:
- Understand basic robot programming and safety management features.
- Gain the ability to program simple Pick & Place tasks.
Weeks 5-6: Advanced Environment in Task Builder and Palletizing¶
Outline:
- Creating pallets and implementing a palletizing process using Pallet Pick & Place Skill.
Key Learning Outcomes:
- Acquire the ability to design and implement palletizing work processes.
Week 7: Task Writer Program Environment¶
Outline:
- Programming Pick & Place, compliance control, force control.
Key Learning Outcomes:
- Develop the ability to perform complex tasks using advanced control techniques.
Week 8: Basics of Programming Languages¶
Outline:
- Basics of Python and DRL (Doosan Robotics Language).
Key Learning Outcomes:
- Understand and apply the basics of programming languages for collaborative robots.
Weeks 9-11: Utilizing DRL¶
Outline:
- Programming flow control, socket communication, Modbus ICP, I/O utilization.
Key Learning Outcomes:
- Develop complex robot programs and control external devices via communication.
Weeks 12-13: Advanced Practice with Collaborative Robots¶
Outline:
- Writing application programs (machine tending, free topics).
Key Learning Outcomes:
- Develop advanced application programs in real work environments using collaborative robots.
Week 14: Advanced Practice with Collaborative Robots (Using Communication and I/O)¶
Outline:
- Remote control practice using communication and I/O.
Key Learning Outcomes:
- Acquire advanced skills in remote controlling collaborative robots.
Week 15: REPORT Presentation¶
Outline:
- Presentation of projects and practice results from the semester.
Key Learning Outcomes:
- Develop the ability to summarize and present project outcomes.
Grading¶
- Class participation: 10%
- Assignments: 60%
- Term project: 30%
Textbook and Resources¶
No required textbook. All necessary materials will be provided in class.