Academic Year 2015/2016
- Docente: Claudio Melchiorri
- Credits: 6
- SSD: ING-INF/04
- Language: English
- Teaching Mode: Traditional lectures
- Campus: Bologna
-
Corso:
First cycle degree programme (L) in
Automation Engineering (cod. 0920)
Also valid for Second cycle degree programme (LM) in Automation Engineering (cod. 0931)
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