28642 - Foundations of Industrial Robotics

Academic Year 2019/2020

  • Teaching Mode: Traditional lectures
  • Campus: Bologna
  • Corso: First cycle degree programme (L) in Automation Engineering (cod. 9217)

    Also valid for First cycle degree programme (L) in Computer Engineering (cod. 0926)

Learning outcomes

Main types of robots and their use in work cells; Simulation and Programming Languages for robots.

Course contents

  • Robotics and Industrial Automation; Robots in industries; Market and applications of industrial robots;
  • Structure and components of robots;
  • Homogeneous Transformations.
  • Kinematics: Direct and Inverse kinematic problems. Work-Space.
  • Kinematics: Differential kinematics and Statics for robots.
  • Robot dynamics. Euler-Lagrangian formulation.
  • Robot control. Position control in joint- and work-space. Centralized and decentralized control schemes.
  • Trajectory planning.
  • Robot programming.

Readings/Bibliography

Notes and other teaching material are available on IOL.


Books (suggested):

"Robotics: Modelling, Planning and Control", B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Springer Ed.

"Handbook of Robotics", B. Siciliano, O. Khatib (Eds.), Springer

Teaching methods

The course is taught in English, and consists of 60 hours of lessons, (6 credits); Simulation tools will also be presented useful for studying concepts of kinematics, dynamics and control.

Assessment methods

Final assessment consists in an oral or written exam. In case some practical work has been assigned during the course, it will be verified during the exam.

In both the oral and written exam, the students will be asked to define the kinematic model of simple robotic mechanism, and to show proper knowledge of dynamic and control elements for robotics.

A supplementary oral session could be requested if the written test is not completely positive.

Teaching tools

Slides; Simulation tools (Matlab)

Office hours

See the website of Claudio Melchiorri

SDGs

Industry, innovation and infrastructure Responsible consumption and production

This teaching activity contributes to the achievement of the Sustainable Development Goals of the UN 2030 Agenda.