Course teached as: - COMPLEMENTI E LABORATORIO DI ROBOTICA Second Cycle Degree in ELECTRICAL AND AUTOMATION ENGINEERING Curriculum AUTOMAZIONE E ROBOTICA
- B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, 2009. Robotics: modelling, planning and control, Springer.
- T.I. Fossen, 1994. Guidance and Control of Ocean Vehicles, 1st ed., John Wiley & Sons Ltd (to deepen).
- R. Hartley and A. Zisserman, 2003. Multiple View Geometry in Computer Vision, 2nd ed., Cambridge University Press (to deepen).
Learning Objectives - Part A
cc1: In-depth knowledge and understanding of the theoretical-scientific aspects of engineering, with a specific reference to mechanical engineering, in which students are able to identify, formulate and solve, even in an innovative way, complex and/or interdisciplinary problems. The ability to understand a multidisciplinary context in the engineering field and to work with a problem solving approach., cc10: Knowledge and understanding of the automation and control industry. Knowledge and understanding of mechatronic systems.
ca4: Applying knowledge and understanding related to the implementation of engineering projects adapted to their level of knowledge and understanding, working in collaboration with engineers and non-engineers. The projects may concern components, equipment and mechanical systems of various kinds and for the widest possible applications., ca7: Applying knowledge and understanding related to the definition, design and implementation of researches useful for understanding problems, through the use of both theoretical and experimental models and techniques., ca12: Applying adequate knowledge and understanding to understand English texts., ca15: Applying knowledge and understanding to achieve adequate preparation for tertiary level university studies (frequency to post-master's degree courses and doctoral schools) in order to further deepen knowledge and skills in research.
Prerequisites - Part A
Industrial Robotics (not mandatory).
Teaching Methods - Part A
Classroom lectures and exercises.
Type of Assessment - Part A
Oral exam is mandatory.
The student can discuss a research work agreed with the teacher during the course (not mandatory).
The oral exam is usually composed of 3 questions; these questions focus on kinematics, dynamics, control theory and related exercises. The student has to demonstrate a sufficient preparation during the examination, critical reasoning ability and effectiveness and competence during the oral exposure.
Course program - Part A
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 bracket, Chow theorem.
Kinematic model of the unicycle. Lyapunov-based design of a tracking controller for the unicycle: backstepping control then.
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.
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.
Robust control of robot manipulators.
Introduction to visual servoing. Cameras. CCD and C-MOS sensors. Pinhole camera and focal distance. Full perspective camera model: lens matrix and spatial sampling matrix. Undistortion techniques. Camera calibration. Structure from motion.
Exercises:
1) Classwork on the dynamic modelling of a lumped mass Furuta pendulum.
2) Classwork on the controllability of non-holonomic systems: unicycle, sphere on plane, differential drive vehicle.
3) Classwork on the backstepping control of a 1DOF system.
4) Classwork on the sliding mode control of a 1DOF system.
5) Classwork on the robust control of a 1DOF system.