2018/2019

2018/2019

DM270

ING-INF/04 (AUTOMATICS)

DEPARTMENT OF ELECTRICAL,COMPUTER AND BIOMEDICAL ENGINEERING

INDUSTRIAL AUTOMATION ENGINEERING

PERCORSO COMUNE

1°

2nd semester (06/03/2019 - 14/06/2019)

6

45 lesson hours

WRITTEN AND ORAL TEST

FERRARA ANTONELLA (titolare) - 6 ECTS

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.

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.

Robot control:
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

Lecture notes

Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing). Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Springer.

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:
http://sisdin.unipv.it/labsisdin/teaching/courses/robcon/files/Robot_Control_Exam_Example.pdf