28642 - FOUNDATIONS OF INDUSTRIAL ROBOTICS

Conoscenze e abilità da conseguire

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

Contenuti

This is a basic course on robotics. Fundamental knowledge about modelling and control of these mechanical systems is provided, leaving other material to more advanced courses.

• 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 of a robot.
• 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.

Testi/Bibliografia

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

Metodi didattici

Il corso è erogato in lingua inglese, e consiste in 60 ore di lezione, (6 CFU); Saranno presentati anche strumenti di simulazione con in quali si potranno approfondire alcuni concetti di cinematica, dinamica e controllo.

Modalità di verifica e valutazione dell'apprendimento

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.

Strumenti a supporto della didattica

Slides; Matlab

Orario di ricevimento

Consulta il sito web di Claudio Melchiorri