ROBOT CONTROL
Stampa
Enrollment year
2020/2021
Academic year
2020/2021
Regulations
DM270
Academic discipline
ING-INF/04 (AUTOMATICS)
Department
DEPARTMENT OF ELECTRICAL,COMPUTER AND BIOMEDICAL ENGINEERING
Course
INDUSTRIAL AUTOMATION ENGINEERING
Curriculum
PERCORSO COMUNE
Year of study
Period
2nd semester (08/03/2021 - 14/06/2021)
ECTS
6
Lesson hours
45 lesson hours
Language
English
Activity type
WRITTEN TEST
Teacher
FERRARA ANTONELLA (titolare) - 6 ECTS
Prerequisites
Knowledge acquired in previous courses in Automatic Control and Mathematical Methods in Engineering.
Learning outcomes
The course provides the basic methodological tools to model and control industrial robots.
Course contents
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.
Teaching methods
Lectures (hours/year in lecture theatre): 45
Practical class (hours/year in lecture theatre): 0
Practicals / Workshops (hours/year in lecture theatre): 0
Reccomended or required readings
Lecture notes

Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing). Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Springer.
Assessment methods
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
Further information
Sustainable development goals - Agenda 2030