28642 - Foundations of Industrial Robotics

Learning outcomes

At the end of the course, the student will know the concepts and methods necessary to compute the kinematic and dynamic model of industrial robots, first important step in the design of efficient control laws. A basic knowledge of the main problems (and solutions) of the control design issue will also be acquired. Although derived for industrial robots, these concepts may be applied more in general to model and control complex automatic machines with many degrees of freedom.

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 are available online (Virtuale).

 

Books:

"Robotics: Modelling, Planning and Control", B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Springer Ed., 2009

"Handbook on Robotics", B. Siciliano, H. Khatib Editors, Springer, 2016

Teaching methods

The course consists of 60 hours of teaching (6 ECTS) divided in two modules. Simulation tools (e.g. Matlab/Simulink) are introduced to solve problems of kinematics, dynamics and control.

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; Simulation tools; Laboratory setups

Office hours

See the website of Claudio Melchiorri

See the website of Roberto Meattini