ID:
509684
Duration (hours):
68
CFU:
9
SSD:
MECCANICA APPLICATA ALLE MACCHINE
Year:
2025
Overview
Date/time interval
Primo Semestre (29/09/2025 - 16/01/2026)
Syllabus
Course Objectives
This course provides basic knowledge of technological solutions typical of the industrial robotic field with a great attention given to manipulators and collaborative robot. Topics covered include mathematical analysis of principal kinematic chains and dynamic analysis, an introduction to path planning theory, an overview of the mechanical devices or components used in this field and touches on the criteria in the use of industrial robots. The emphasis is on learning the fundamental concepts and principles useful in using an actual industrial robot. The intent is to help students acquire a basic set of analytical tools and expertise for working in the robotic field. The lessons are complemented by exercises based on industrial cases.
After the exam the student:
- Has an overview of the robotic field and the use of robots in industrial applications
- understands how to model a robot from a kinematic and dynamic point of view
- knows the principal mechanical components used in the robotic field
- knows the principal methodologies and approaches used to program an industrial robot
- has an overview of the performance of a robot with reference to harmonized technical standards
After the exam the student will be able to:
- solve the kinematic and dynamic problem of a robot with MATLAB
- plan the trajectory of an end effector in the joint space as well in the working space
- use an industrial robot and a collaborative one.
After the exam the student:
- Has an overview of the robotic field and the use of robots in industrial applications
- understands how to model a robot from a kinematic and dynamic point of view
- knows the principal mechanical components used in the robotic field
- knows the principal methodologies and approaches used to program an industrial robot
- has an overview of the performance of a robot with reference to harmonized technical standards
After the exam the student will be able to:
- solve the kinematic and dynamic problem of a robot with MATLAB
- plan the trajectory of an end effector in the joint space as well in the working space
- use an industrial robot and a collaborative one.
Course Prerequisites
Kinematics and dynamics of mechanical systems composed of rigid bodies
Basics of Matrix algebra
Basics of drawing of machines
Basics of programming
Basics of Matrix algebra
Basics of drawing of machines
Basics of programming
Teaching Methods
Lectures and laboratory practices
Assessment Methods
The examination consists of a written and an oral test
Texts
B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Editore: Springer-Verlag London, ISBN: 978-1-84628-642-1
G. Legnani, Robotica Industriale, Editore: Casa Editrice Ambrosiana, ISBN: 88-408-1262-8
G. Legnani, Robotica Industriale, Editore: Casa Editrice Ambrosiana, ISBN: 88-408-1262-8
Contents
Brief history and description of robots: modern trending in robotics; Robot classification; Industrial robotic objectives and issues. Description of basic structure of an industrial robot system and general characteristics.
Manipulators analysis: Brief recap of general methodologies for direct and inverse kinematic analysis and dynamics of multi-degree of freedom systems (Jacobian matrix, singularities). Manipulator dynamics, lumped parameter models for dynamic simulation. Manipulability ellipsoid and isotropy. Parallel kinematic robots.
Reference to path planning: References to trajectory descriptions in the joint space and in the workspace. Overview of language and robot programming systems with particular reference to Epson RC+ and TM flow software.
Components for industrial robotics: Electric actuators. Speed reducers, remote transmissions. Gripping systems. Position, speed, acceleration and force sensors. Overview of collaborative robots.
Overview of the uses of industrial robots. Principal technical standards: nomenclature, presentation of characteristics, performance criteria and related test methods. Reference to security in the robotic cells and use of a robot in a production line. Applications: description of industrial cases in assembly, handling and processing operations
Manipulators analysis: Brief recap of general methodologies for direct and inverse kinematic analysis and dynamics of multi-degree of freedom systems (Jacobian matrix, singularities). Manipulator dynamics, lumped parameter models for dynamic simulation. Manipulability ellipsoid and isotropy. Parallel kinematic robots.
Reference to path planning: References to trajectory descriptions in the joint space and in the workspace. Overview of language and robot programming systems with particular reference to Epson RC+ and TM flow software.
Components for industrial robotics: Electric actuators. Speed reducers, remote transmissions. Gripping systems. Position, speed, acceleration and force sensors. Overview of collaborative robots.
Overview of the uses of industrial robots. Principal technical standards: nomenclature, presentation of characteristics, performance criteria and related test methods. Reference to security in the robotic cells and use of a robot in a production line. Applications: description of industrial cases in assembly, handling and processing operations
Course Language
English
Degrees
Degrees
INDUSTRIAL AUTOMATION ENGINEERING
Master’s Degree
2 years
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