B020502 - INDUSTRIAL ROBOTICS

Italiano. English if required by at least 3 students

1. Kinematics of manipulators
2. Differential kinematics and statics
3. Dinamics
4. Trajectory planning
5. motion control

B. SICILIANO, L. SCIAVICCO LORENZO, L. VILLANI, G. ORIOLO, "ROBOTICA:
MODELLISTICA, PIANIFICAZIONE E CONTROLLO," THE MCGRAW-HILL
COMPANIES
Pubblicazione: 04/2008 (640 pagine, 37.00 Euro)
Il textbook is also available in English:
B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics ? Modelling, Planning and
Control, Springer, London, UK, 2009

To make future engineers aware of robots mostly used in industrial as well as nonindustrial
applications. Being robotics at the borders of various areas such as:
mechanics, electronics, automation engineering, informatics, the course, in addition
to develop in detail arguments of mechanics necessary for analysis and synthesis of
robot structures, supplies tools for the comprehension of robot components which
are out of the cultural background of electronics engineering students or,
complementarily, out of the cultural background of mechanical engineering
students. The goal is to create a common language helping engineers with different
background to interact among them according to the mechatronics paradigm for
machine design and education.
Common types of robot manipulators and mobile robots.
Direct and inverse kinematics problem, differential kinematics.
Electromechanical components used in industrial robotics (sensors, actuators,
mechanical transmissions)
Control techniques and architectures commonly used in industrial practice.
Capability of analysing an industrial robot featuring a simple open chain by using
the Denavit-Hartenberg method for kinematics modelling and Lagrange equations
for dynamics modelling.

Knowledge of:
- Geometry and Linear Algebra;
- Physics;
- Analitical Dynamics;
- Modelling and control of LTI systems.

35 hours of ex cathedra lectures plus 15 hours of class exercises, 50 hours in total.
According to the availability of computer laboratories, some of the class exercises
will be given using Matlab and Simulink.
During the course, one or more companies producing, integrating, and/or using
industrial robots will be possibly organized.

.

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.

1. Introduction to the course
History of robotics
Industrial robotics and advanced robotics
Structure of manipulators
2. Kinematics
Position and orientation of a rigid body
Rotation matrices
Composition of rotations
Rotation around an arbitrary axis
Minimal representations of orientation
Homogeneous transformations
Direct Kinematics
Joint space and operational space
Kinematic calibration
The inverse Kinematic problem
Kinematics of parallel robots
Kinematics of wheeled and legged mobile robots
3. Differential Kinematics and statics
Geometric jacobian
Analytical jacobian
Kinematic singularities
Redundancy analysis
Inverse differential kinematics and related algorithms
Statics
Manipulability ellipsoids
4. Dinamics
Lagrange Formulation
Properties of the dynamic model of manipulators
Identification of dynamic parameters
Newton-Euler formulation
Direct and inverse dynamic problem
Dynamic model in the operational space
Dynamic manipulability ellipsoids
5. Trajectory planning
Geometric path and trajectories
Trajectories in joint space
Trajectories in operational space
6. Motion control
Control in joint space
Independent joint control
Feedforward computed torque compensation
Centralised control
Control in the operational space
Comparison between different control techniques
7. Control of interaction
Interaction with the environment
Compliance control
Impedance Control
Force Control
Hybrid control
Visual servoing
8. Sensors and actuators
Joint drives
Servomotors
Classification of sensors
Proprioceptive sensors
Exteroceptive sensors
9. Control architectures
Functional architectures
Programming environments
Hardware architectures
10. Telerobotics and man-machine interfaces
History of teleoperation
Bilateral control
Interfaces for force replication
List of exercises
1. Linear algebra
Matrices
Vectors
Linear transformations
Eigenvalues and eigenvectors
Bilinear and quadratic forms
Pseudoinverse
Singular value decomposition
2. Kinematics
Direct and inverse kinematics of some manipulator structures
3. Differential kinematics
Computation of the geometric jacobian for some manipulator structures
4. Dynamics
Computation of the dynamic model for some manipulator structures with the
methods of Lagrange and Newton-Euler
5. Planning of trajectories
Algorithm of generation of trajectories with parabolic, cubic, quintic and spline time
laws
6. Motion control
Examples of commercial motion control systems
Laboratory demonstration of a controlled axis