CodeTheRobot
Course outline

Module 01 ยท 40 lessons

Six-Axis Articulated Arm

Six-axis industrial robot arm stacking boxes on a pallet inside a guarded cell
MODULE 01
6-AXIS CELL

Foundations

  1. 01Robot anatomy & joint types
  2. 02Coordinate frames (world, base, tool)
  3. 03DH parameters introduction
  4. 04Forward kinematics derivation
  5. 05Inverse kinematics analytical methods
  6. 06Numerical IK solvers
  7. 07Workspace & reach analysis
  8. 08Singularities & avoidance
  9. 09Joint limits & safety envelopes
  10. 10Tool center point (TCP) calibration

Motion & Control

  1. 11PTP vs LIN vs CIRC motions
  2. 12Trajectory interpolation
  3. 13Velocity & acceleration profiles
  4. 14Dynamic modeling (Newton-Euler)
  5. 15PID joint control
  6. 16Feedforward torque control
  7. 17Collision detection
  8. 18Gravity compensation
  9. 19Redundancy resolution
  10. 20Smooth motion planning

End-Effectors & I/O

  1. 21Gripper types & selection
  2. 22Suction systems
  3. 23Welding & soldering tools
  4. 24Force/torque sensors
  5. 25Tool changers
  6. 26Digital & analog I/O
  7. 27Conveyor integration
  8. 28Vision-guided pick & place
  9. 29Calibration with fiducials
  10. 30Quality inspection workflows

Software & ROS 2

  1. 31URDF robot modeling
  2. 32MoveIt motion planning
  3. 33ROS 2 control setup
  4. 34Gazebo simulation
  5. 35Planning pipelines
  6. 36Collision geometry tuning
  7. 37Custom IK plugins
  8. 38Offline programming (RoboDK)
  9. 39Safety standards ISO 10218
  10. 40Full industrial cell integration