ROBOTICS
Academic Year 2022/2023 - Teacher: DARIO CALOGERO GUASTELLAExpected 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
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
| Subjects | Text References | |
|---|---|---|
| 1 | Introduction. Applications of robots. (2 hours) | [1] |
| 2 | Direct kinematics (4 hours) | [2] |
| 3 | Inverse kinematics (3 hours) | [2] |
| 4 | Differential kinematics. Jacobian. (2 hours) | [2] |
| 5 | Differential kinematics: singularities, redundancy (2 hours) | [2] |
| 6 | Differential kinematics: Inverse differential kinematics, Analytical Jacobian (3 hours) | [2] |
| 7 | Orientation errors (3 hours) | [2] |
| 8 | Statics Manipulability Ellipsoid,(2 hours) | [2] |
| 9 | Trajectory planning and Dynamics (2 hours) | [2] |
| 10 | Decentralised control (2 hours) | [2] |
| 11 | PD control with gravity compensation (2 hours) | [2] |
| 12 | Control with feedback linearization (2 hours) | [2] |
| 13 | Introduction to mobile robots (4 hours) | [3] |
| 14 | Mobile robots localization (2 hours) | [3] |
| 15 | Mobile robots mapping (2 hours) | [3] |
| 16 | Markov localization Kalman filter localization (2 hours) | [3] |
| 17 | Quadrotor modelling and control (3 hours) | [4] |
| 18 | Underwater robots (1 hour) | [4] |
| 19 | Inertial Measurement Units (1 hour) | [4] |
| 20 | Satellite Localization Systems., GNSS, DGPS, Galileo (2 hours) | [4] |
| 21 | Mobile robots Control (3 hours) | [3] |
| 22 | MATLAB Robotics toolbox, kinematics, control and simulation of manupulators and mobile robots (9hours) | [4] |
| 23 | KUKA and AUBO manipulator programming (2 hours) | [4] |
| 24 | Mobile robots laboratory exercise. Examples of robots, Agriculture, climbing volcanoes, demining (10hours) | [4] |
| 25 | Robotic sensors overview and exercise (5 hours) | [4] |
| 26 | Quadrotor laboratory exercise (2 hours) | [4] |
| 27 | ROS 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.