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92992 - Industrial Robotics M

Academic Year 2020/2021

                
                        Docente:
                        Claudio Melchiorri
                    
                        Credits:
                        6
                    
                        SSD:
                        ING-INF/04
                    
                        Language:
                        English
                    
                        Teaching Mode:
                        Traditional lectures
                        
                            Campus:
                            Bologna
                        
                            Corso:
                            Second cycle degree programme (LM) in
                            Automation Engineering (cod. 8891)

                            Teaching resources on Virtuale

Learning outcomes

The course provides the basic competencies in the field of industrial robotics. The main topics addressed in the course are basic concepts of robotics (kinematic and dynamic models, basic control schemes), illustration of advanced control schemes for position and force control of industrial manipulators (robust control, adaptive control, learning control, stiffness, impedance, hybrid position/force), trajectory planning for robots and automated machines, modeling and control aspects of mobile robotics. Theoretical aspects presented in the course are then used in practical activities on designing and controlling a mobile robot (LEGO). Advanced robotic applications (robotics in medicine, haptic systems, telemanipulation, etc.) are also presented. At the end of the course students know basic robotic technologies and they master modeling and advanced control aspects of robots used in industrial and research settings.

Course contents

Basic concepts of robotics (kinematic and dynamic models, basic control schemes).
Advanced position control schemes: robust control, adaptive control, learning control, repetitive control.
Force control of industrial manipulators: stiffness, impedance, hybrid position/force control.
Trajectory planning for robots and automatic machines

Laboratory activities are planned on the design and control of robots (LEGO, ROS, Simulation tools).

Readings/Bibliography

Notes covering the whole course are available online (IOL).

Books:

"Robotics: Modelling, Planning and Control", B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Springer Ed., 2009
"Trajectory Planning for Automatic Machines and Robots", L. Biagiotti, C. Melchiorri, Springer Ed., 2008
"Handbook on Robotics", B. Siciliano, H. Khatib Editors, Springer, 2016

Teaching methods

The course consists of 60 hours of teaching (6 ECTS); Simulation tools (e.g. Matlab/Simulink) are introduced to solve problems of kinematics, dynamics and control. Laboratory activity is planned.

Assessment methods

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

Teaching tools

Notes of the teacher.
Laboratory setups.

Office hours

See the website of Claudio Melchiorri