Cobot Lab Exercise
A comprehensive set of hands-on experiments designed to teach robotics fundamentals using the Cobot-C1 robotic arm.
Overview
The Cobot Lab Exercise curriculum provides students with practical experience in robot kinematics, path planning, control systems, and data analysis. Each experiment builds upon previous concepts, creating a complete learning pathway from basic anatomy to advanced control strategies.
Experiments
Experiment 1: Manipulator Kinematics & Anatomy of Cobot-C1
Learn the fundamental kinematics of the Cobot-C1 robotic manipulator. Understand robot components, degrees of freedom, and the Denavit-Hartenberg convention for coordinate frames.
Experiment 2: Forward Kinematics (FK) for the Cobot-C1
Master the prediction of end-effector position and orientation based on joint angles. Apply FK equations to model robot behavior and validate accuracy through practical exercises.
Experiment 3: Inverse Kinematics (IK) for the Cobot-C1
Determine the joint angles required to reach desired end-effector positions. Handle multiple solutions and understand the challenges of nonlinear equation solving.
Experiment 4A: Task Space Path Planning for the Cobot-C1
Explore path planning in Cartesian space where the end-effector follows straight-line paths. Essential for applications requiring precise workspace trajectories.
Experiment 4B: Joint Space Path Planning for the Cobot-C1
Investigate path planning in joint configuration space using simultaneous and sequential motion strategies. Compare joint-space versus task-space planning approaches.
Experiment 4C: Analyzing Data with PlotJuggler
Learn to capture, visualize, and analyze robotic data using PlotJuggler and ROS Bag. Develop data-driven debugging and validation skills.
Experiment 5: Investigating the Effect of Control on Cobot-C1 Stiffness
Explore how control gains influence robot stiffness and dynamic response. Understand the relationship between gain selection, compliance, and safety in collaborative robots.
Learning Objectives
- Understand fundamental concepts of robot kinematics and control
- Apply mathematical models to predict and control robot behavior
- Develop practical skills in robot programming and operation
- Analyze robot performance using data visualization tools
- Design and implement safe collaborative robot applications