The course provides the basic methodological tools to model and control industrial robots.
Course Prerequisites
Knowledge acquired in previous courses in Automatic Control and Mathematical Methods in Engineering.
Teaching Methods
Lectures (hours/year in lecture theatre): 46 Practical class (hours/year in lecture theatre): 0 Practicals / Workshops (hours/year in lecture theatre): 0
Assessment Methods
Closed book written exam, without using notes. Both knowledge of theory and ability to solve simple exercises will be tested. The Robot Control exam will consist of up to 15 questions to be answered in 45 minutes. Some questions will be focused on theory, others will be exercises, similarly to the homeworks which are proposed and corrected during the course. In case of multiple-choice questions, for any wrong reply there will be a penalty. No penalty for True and False questions.
Texts
Lecture notes
Slides of the course
Videos of recorded lectures covering the entire program
Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing). Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Springer
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.
