DIPARTIMENTO DI INGEGNERIA INDUSTRIALE E DELL'INFORMAZIONE
Corso di studio
Secondo Semestre (07/03/2022 - 17/06/2022)
45 ore di attività frontale
Knowledge acquired in previous courses in Automatic Control and Mathematical Methods in Engineering.
The course provides the basic methodological tools to model and control industrial robots.
Programma e contenuti
Modelling of robotic systems:
Structure of robotic manipulators. Classification. The joint space and the operational space. Direct kinematics. Inverse kinematics. Differential kinematics. Euler angles. Relationship between geometrical and analytical Jacobian. Dynamic modeling.
Planning. Motion control in the joint space (decentralized and centralized) and in the operational space (inverse dynamics). Interaction control: force control, hybrid force/position control.
Lectures (hours/year in lecture theatre): 45
Practical class (hours/year in lecture theatre): 0
Practicals / Workshops (hours/year in lecture theatre): 0
Testi di riferimento
Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing). Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Springer.
Modalità verifica apprendimento
Closed-book, closed-notes, 2 hour written exam consisting of 3 sections assessing knwoledge and understanding of the course topics and ability to apply them in a problem solving context. Each section will be independently graded. Threshold to pass is 18/30 an maximum mark is 30/30 cum laude. The final mark is obtained as the weighted mean of marks given to each section of the written exam. Example of a written exam:
Obiettivi Agenda 2030 per lo sviluppo sostenibile