Overview#
This document tracks my learning progress in industrial robotics, covering fundamental concepts, programming techniques, practical applications, and advanced topics in the field.
Foundation Concepts#
Robot Kinematics#
- Forward kinematics: calculating end-effector position from joint angles
- Inverse kinematics: determining joint angles for desired end-effector position
- Denavit-Hartenberg (DH) parameters for robot modeling
- Jacobian matrix for velocity relationships
Robot Dynamics#
- Lagrangian mechanics for robot motion
- Inertia matrices and mass distribution
- Joint torque calculations
- Friction and damping considerations
Programming & Control#
Robot Programming Languages#
- FANUC TEACH PENDANT
- ABB RAPID
- Universal Robots UR Script
- ROS (Robot Operating System)
- Python for robotics simulations
Control Systems#
- PID controllers for joint control
- Trajectory planning and interpolation
- Path planning algorithms (RRT, PRM, A*)
- Real-time control implementations
Applications#
Manufacturing#
- Assembly line automation
- Material handling and palletizing
- Welding and material processing
- Pick and place operations
Industrial Tasks#
- Painting and coating
- Machine tending
- Deburring and finishing
- Inspection and quality control
Tools & Simulators#
- Gazebo for robot simulation
- CoppeliaSim (formerly V-REP)
- MATLAB Robotics Toolbox
- RViz for visualization
- CAD software integration (SOLIDWORKS, Fusion 360)
Safety & Standards#
- ISO/TS 15066 for collaborative robots
- OSHA guidelines for industrial automation
- Safety protocols and emergency stops
- Human-robot interaction principles
Project Ideas#
- Implement IK solver for 6-DOF manipulator
- Design collision detection system
- Create trajectory optimization algorithm
- Build ROS-based robot controller
- Simulate pick-and-place task
References & Resources#
- Robotics textbooks and research papers
- Manufacturer documentation
- Open-source robotics projects
- Online courses and certifications
Last Updated: May 14, 2026