28642 - Foundations of Industrial Robotics

Course Unit Page

Academic Year 2015/2016

Learning outcomes

Knowledge of the main concepts and methodologies of robotics in terms of modelling (kinematics, dynamics) and control. Main types of robots (anthropomorphic, cartesian, ...) and their use in work cells; Basic concepts on mobile robotics; Simulation and Programming Languages for robots; Decentralized control techniques; Centralized control techniques (PD+gravity compensation, Inverse dynamics)

Course contents

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


Readings/Bibliography

Notes are available on the teacher's web site.
Books: "Robotics: Modelling, Planning and Control", B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Springer Ed.

Teaching methods

The course consists of 60 hours of teaching, (6 ECTS); Simulation tools will be introduced to solve elementary problems of kinematics, dynamics and control. 

Assessment methods

Final assessment with an oral exam, with discussion of the practical work developed during the course.

Teaching tools

Slides
Laboratory setups

Office hours

See the website of Claudio Melchiorri