ROBOTICS
Academic Year 2019/2020 - 2° YearCredit Value: 9
Scientific field: ING-INF/04 - Systems and control engineering
Taught classes: 49 hours
Exercise: 30 hours
Term / Semester: 2°
ENGLISH VERSION
Learning Objectives
Modeling, simulation and control of robotic manipulators and mobile robotic platforms.
At the end of the course the student will understand how a robotic system works and how to design a controller for a robotic system.
Course Structure
The course is divided into three parts:
A. Lectures. Kinematics, Dynamics, Control, Model of manipulators and mobile robots. Example of applications of robotics.
B. Exercise. Computing tools for analysis and control of robots. MATLAB/SIMULINK. ROS.
C. Laboratory. Practical Experiments performed on real industrial manipulators and mobile platforms.
Detailed Course Content
Introduction: Historical Developments, classification of robots, robot components. Applications and robotic Market.
Kinematics and dynamics: Direct kinematics Transformation, rotation matrices, Denavit-Hartenberg representation, kinematic equations of the manipulator, inverse kinematics transformation, differential kinematics, Jacobian matrix, Static, stiffness and compliance, Manipulability Ellipsoids. Analysis of redundancy. Dynamics equations of a robot arm.
Calculation of the trajectories of a manipulator: Trajectory planning, trajectories in the joint space and operational space.
Control: closed loop servo position, PID controller, decentralized control, centralized control, robust control, adaptive control. Operational space control. Interaction control, force control, hybrid control.
Sensors and actuators for robotics systems: joints actuators, electrical drives, hydraulic and pneumatic systems, proprioceptive sensors, exteroceptive sensors.
Vision for robotics: image capture, image geometry, basic relations between pixels, preprocessing, segmentation, description, recognition, interpretation. Visual control of a robot.
Service robots: Definition of service robots, service robots applications.
Mobile robots: Navigation of a mobile robot, Dead Reckoning, Odometry, Map-Building, map matching. Trajectory control of mobile robots. Non-holonomic robots. Examples of service robots.
Laboratory of robotics: Experiences of planning and control of robot manipulators and mobile robots.
Textbook Information
[1] B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo,“Robotica”, Mc Graw-Hill Italia
[2] B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo,“Robotics”, Springer
[3] R. Siegwart, I. Nourbakhsh, “Introduction to Autonomous Mobile Robots”, MIT Press
[4] Course notes on studium