1. Introduction to the course
2. Kinematics
3. Differential kinematics and statics
4. Dynamics
5. Trajectory planning
6. Motion control
7. Control of interaction
8. Sensors and actuators
9. Collaborative robots
10. Mobile robots
B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and
Control, Springer, London, UK, 2009
Obiettivi Formativi
cc4 Knowledge of advanced design tools
(mechanical, thermo-fluid dynamical,
electrical, or multi-physics) for modelling
and numerical simulation of
components or systems.
cc8 Knowledge of the mobility system, its
constitutive elements and the tools for
its characterisation and description
cc10 Knowledge of methods for planning and
carrying out highly complex
experimental activities for the analysis
of components and systems.
ca1 The ability to identify, formulate and
solve industrial engineering problems,
defining specifications, technical, social,
environmental, and commercial
constraints.
ca2 The ability to carry out engineering
projects, working in a multidisciplinary
environment.
ca5 The ability to combine theory and
practice to identify and solve
multidisciplinary
engineering problems,
considering constraints, including nontechnical
ones.
ag2 The ability to grasp the ethical
implications of design choices and
technologies employed or developed.
ap1 The capacity for continuous and
autonomous learning, and self-updating
in the relevant engineering area.
Prerequisiti
Knowledge of:
- Geometry and Linear Algebra;
- Physics.
Desired, not mandatory:
- Analytical Dynamics;
- Modelling and control of LTI systems.
Metodi Didattici
40 hours of ex cathedra lectures plus 10 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, visits to one or more companies producing, integrating, and/or using real robots will be possibly organized.
Modalità di verifica apprendimento
Students have to pass a written exam and prepare a presentation about a novel technical or research topic/achievement. Students will be asked to discuss a series of open and closed questions, tailored to prove the comprehension of the theoretical principles (CC4, CC8) and application scenarios (CC10) presented in the course, as well as the practical knowledge acquired (CA1, CA2, CA5, AG2). To pass the exam, the students should demonstrate to have acquired good knowledge on robotics and to master sufficiently kinematic and dynamic analysis of robot systems and their control. The assessment of AP1 will be performed by the fulfillment of an assigment consisting in the study of a research or a technical paper and the presentation of the document.
Programma del corso
1. Introduction to the course
History of robotics
Industrial robotics and advanced robotics
Structure of manipulators and mobile robots
2. Kinematics
Position and orientation of a rigid body
Rotation matrices
Composition of rotations
Rotation around an arbitrary axis
Minimal representations of orientation
Quaternions
Homogeneous transformations
Direct Kinematics
Joint space and operational space
The inverse Kinematic problem
3. Differential Kinematics and statics
Geometric Jacobian
Analytical Jacobian
Kinematic singularities
Redundancy analysis
Inverse differential kinematics and related algorithms
Statics
4. Dynamics
Lagrange Formulation
Properties of the dynamic model of manipulators
Identification of dynamic parameters
Direct and inverse dynamic problem
Dynamic model in the operational space
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
Centralized 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
Classification of sensors
Proprioceptive sensors
Exteroceptive sensors
9. Collaborative robots
Levels of collaboration
Safety standards for industrial cobots
Service robots
Assistive and rehabilitative robots
10. Mobile robots
Kinematic models of mobile robots
Indoor navigation systems
Aerial and marine vehicles
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. Motion control
Examples of commercial motion control systems
Laboratory demonstration of a controlled axis