COBOTS: Capability demonstration using KUKA iiwa

COBOTS: Theory and Practice By Prof. Arun Dayal Udai | IIT-ISM Dhanbad on NPTEL/SYAYAM Portal, Ministry of Education, Government of India https://onlinecourses.nptel.ac.in/noc25_me86/preview This video demonstrates the following capabilities of a COBOT 1. Gravity Compensation with Orientation Control 00:11 2. Full Gravity Compensation 00:47 3. Gravity Compensation with Position Control 01:37 4. Cartesian Stiffness Control Along YZ Plane, Free along X 02:12 5. Cartesian Stiffness Control Along XY Plane, Free along Z 02:42 6. Cartesian Stiffness Control Free along XYZ, Stiffness set to zero 03:12 7. Cartesian Stiffness Control Along Z, Free along XY 03:42 8. Cartesian Stiffness Control Different values along each direction 04:07 9. Cartesian Stiffness Control Orientation Stiffness 04:42 10. Arbitrary Reference Compliance Reference is set at the Tool Flange Center 05:22 11. Arbitrary Reference Compliance Reference is set to the Tool Center Point 05:42 12. Force Triggered Stop (Deactivated/Activated) 06:07 13. Null Space Stiffness 06:31 14. Selective Programmable Compliance - Arbitrary Surface Following with Force Maintaining 07:16 This work was supported by KUKA India Pvt. Ltd., Gurugram. All rights reserved, November 2024