Texts written by the teacher avilable online (http://www.mdm.unifi.it).
The purchase of the following textbook is strongly suggested:
Robotics
Modelling, Planning and Control
Authors: Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.
Springer
Learning Objectives
The pupils will become familiar with modelling and control of robotic systems.
The pupil shall be able to:
1) Derive dynamic models of mechanical systems formed by rigid bodies connected by kinematic pairs.
2) Derive kinematic models of wheeled vehicles and verify their controllability in the configuration space.
3) Derive dynamic models of wheeled vehicles and synthesize controllers for tracking desired trajectories.
Prerequisites
Elements of classical control: feedback systems, stability, performance, state space. Kinematics, dynamics, motion planning and control of robot manipulators.
Teaching Methods
Classroom lectures and exercises.
Further information
.
Type of Assessment
Oral exam. Three different questions will be usually formulated to the student: one or two will be theoretical. The remaining questions will be on applications of theory.
Course program
Selected topics of analytical dynamics. Lagrange coordinates. D'Alembert's equation.
Holonomic and non-holonomic systems. II-type Lagrange Equations. Computation examples for lagrangian components of active forces.
Configuration space of a mechanical system. Differentiable manifolds. Tangent space, vector fields.
Distributions, involutive closure of a distribution, Lie brackets, Chow theorem.
Kinematic model of the unicycle. Lyapunov-based design of a tracking controller for the unicycle: backstepping control.
Kinematic control techniques for non-holonomic systems: periodic (synusoidal) inputs. Application to the unicycle: change of input and configuration variables and chained form. Parking of the unicycle.
Navigation methods for Automated Guided Vehicles (AGVs).
Backstepping control of a tricycle: equivalent unicycle, virtual control inputs for the unicycle
Sliding mode control of single-input systems.
Control chattering and practical methods to avoid it: boundary layer, second order sliding mode control.
Sliding mode control of multivariabile systems. Uncertainty models. Frobenius-Perron theorem, computation of gains.
Robust control of robot manipulators.
Introduction to visual servoing. Exteroceptive control of robots. Inner-outer loop control architectures. Cameras. CCD and C-MOS sensors. Pinhole camera and focal distance. Full perspective camera model: lens matrix and spatial sampling matrix.
Exercises:
1) Classwork on a one DOF dynamic system: pendulum and winch in gravity with gear and electric motor.
2) Classwork on the modelling of a lumped mass furuta pendulum.
3) Classwork on the controllability of non-holonomic systems: unicycle, simplified car, sphere on plane.
4) Classwork on the sliding modes control of a SDOF system.
5) Classwork on the robust control of a SDOF system.