ROBOTICS

Academic Year 2024/2025 - Teacher: DARIO CALOGERO GUASTELLA

Expected Learning Outcomes

Knowledge and understanding

Modeling, simulation and control of robotic manipulators and mobile robotic platforms.

Applying Knowledge and understanding

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.

Making Judgment

Students will have the skills to be able to analyze a robotic system, in its components and must be able to propose solutions toproblems that require the use of robotic systems.

Communication skills

Students will have to possess the language properties and the typical terminologies of robotic systems and must be able to communicate characteristics, performance and method of operation both to sector experts and non-specialist interlocutors.

Learning skills

The studies undertaken will allow the further base of the studies towards the analysis and design also of more complex robotic systems in a self-direct and autonomous way.

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.

Should teaching be carried out in mixed mode or remotely, it may be necessary to introduce changes with respect to previous statements, in line with the programme planned and outlined in the syllabus.

Required Prerequisites

Basic knowledge on Automatic Control, electrical measurements, Electronics, Programming

Attendance of Lessons

Attendance of lecture is not compulsory, but strongly suggested to take the exam.

Attendance is compulsory as regard laboratory exercises.

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 andcompliance, 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

Course Planning

 SubjectsText References
1Introduction. Applications of robots. (2 hours)[1]
2Direct kinematics (4 hours)[2]
3Inverse kinematics (3 hours)[2]
4Differential kinematics. Jacobian. (2 hours)[2]
5Differential kinematics: singularities, redundancy (2 hours)[2]
6Differential kinematics: Inverse differential kinematics, Analytical Jacobian (3 hours)[2]
7Orientation errors (3 hours)[2]
8Statics Manipulability Ellipsoid,(2 hours)[2]
9Trajectory planning and Dynamics (2 hours)[2]
10Decentralised control (2 hours)[2]
11PD control with gravity compensation (2 hours)[2]
12Control with feedback linearization (2 hours)[2]
13Introduction to mobile robots (4 hours)[3]
14Mobile robots localization (2 hours)[3]
15Mobile robots mapping (2 hours)[3]
16Markov localization Kalman filter localization (2 hours)[3]
17Quadrotor modelling and control (3 hours)[4]
18Underwater robots (1 hour)[4]
19Inertial Measurement Units (1 hour)[4]
20Satellite Localization Systems., GNSS, DGPS, Galileo (2 hours)[4]
21Mobile robots Control (3 hours)[3]
22MATLAB Robotics toolbox, kinematics, control and simulation of manupulators and mobile robots (9hours)[4]
23KUKA and AUBO manipulator programming (2 hours)[4]
24Mobile robots laboratory exercise. Examples of robots, Agriculture, climbing volcanoes, demining (10hours)[4]
25Robotic sensors overview and exercise (5 hours)[4]
26Quadrotor laboratory exercise (2 hours)[4]
27ROS programming (2 hours)[4]

Learning Assessment

Learning Assessment Procedures

The exam consists in the presentation of the laboratory experiments performed, in a report and in an oral dissertation.

Learning assessment may also be carried out on line, should the conditions require it.

Examples of frequently asked questions and / or exercises

Differential kinematics. Jacobian computation. Statics. Redundant manipulators. Kalman filter. Markov localization. Decentralised control.
VERSIONE IN ITALIANO