34303 - Robotics M

Course Unit Page


This teaching activity contributes to the achievement of the Sustainable Development Goals of the UN 2030 Agenda.

Industry, innovation and infrastructure Responsible consumption and production

Academic Year 2018/2019

Learning outcomes

Basic tools for the kinematic, static and dynamic modelling of open chains (serial manipulators) and closed chains (parallel manipulators), also with the use of CAD packages.

Course contents

The course aims at providing the students with the basics elements for the kinematic modelling of open chains (serial manipulators) and closed chains (parallel manipulators). It features the following main sections:

  1. ORIGINS AND HISTORY OF ROBOTS. Introduction. Origins. Ste of the art of Robotics. Classification of robots. Aim of industrial Robotics. Main issues of industrial Robotics.

  2. STRUCTURE AND GENERAL CHARACTERISTIC OF ROBOTS. Introduction. Structure of a robot. The manipulator and its control. Sensors. Main characteristics of an industrial robot.

  3. MATRIX FOR THE COORDINATE TRANSFORMATION. Introduction.. position and orientation of a rigid body and reference systems. Matrices for the transformation of the ccordinates. Rotations and translations. Omogeneous transformations.

  4. KINEMATICS OF MANIPULATORS. Introduction. Knematic model of a manipulator. Matrices of Denavit-Hartenberg, Litvin, and Morgan. Kinematic quations. Degrees of freedom. Direct kinematic problem. Inverse kinematic problem. Differential relations of motion. Kinematic model of instantaneous motion. Infinitesimal rotation and translations. Jacobian of a manipulator. Analytical determination of the Jacobian. Numerical computation of the JAcobian. Singularity. Inverse kinemtics: velocity solution. Redundant manipulators: optimal solution.

  5. PARALLEL MANIPULATORS. Direct and inverse kinematic analysis. Singularities. Kinetostatic and dynamic analyses.

  6. STATICS OF MANIPULATORS. Introduction. Analysis of forces and motion. Force and moments balancing.

  7. DYNAMICS OF MANIPULATORS (SERIAL AND PARALLEL). Introduction. Acceleration of arigid body. Equation of motion (Newton-Euler). Dynamic equation in analytic form. Iterative formulation of the equation of motion. Physical interpretation of the equations of motion. Direct dynamic problem. Inverse dynamic problem.

  8. TRAJECTORY GENERATION. Introduction. Generalities on the generation and description of the trajectory. Trajectory generation in joint and Cartesian space. Trajectory planning base don the dynamic model.

  9. POSITION CONTROL OF MANIPULATORS. Introduction. Control of a mass with one degree of freedom. Non linear systems and time varying systems. The proble of the manipulator control. Control system of industrial robots. Adaptive control.

  10. FORCE CONTROL OF MANIPULATORS. Introduction. Applications of industrial robot sto assebly tasks. Force sensors. Hybrid position-force control. Control schemes of the actual robot.

  11. ROBOT PROGRAMMING AND LANGUAGE SYSTEMS. Introduction. Level of robot programmino. Requirements of a programmino language.

  12. INDUSTRIAL ROBOT ACTUATORS AND MOTION TRANSMISSION. Introduction. Electric motors. Pneumatic actuators. Hydraulic actuators. Actuators Harmnic drive and planetary gears.Design elements of the kinematic pairs.

  13. CRITERIA OF USE OF INDUSTRIAL ROBOTS. Introduction. Economic evaluation of the use of robots. Robot in the manufacturing process. Applications: examples of assembly, of manipulation and of manufacturing processes.

    Exercises:1) Inverse position analysis of PUMA

  14. 2) position analysis of the mechanism of type 6-6.

    3) Elements of Dynamics

    4) Dynamic analysis of a 2R spatial manipulator

    5) Trajectory generation


- Reference book: notes of the lectures by Prof. Vincenzo Parenti Castelli are available to students.


- Craig J., Introduction to Robotica, Mechanics and Control, 1989, Addiso-Wesley Publishing Company

- Erdman and Sandor, “Analysis and Synthesis of Mechanisms”, voll. 1 and 2, 1990, Prentice-Hall.

- Suh C.H. and Radcliffe C. W., “Kinematics and Mechanisms Design”, John Wiley & Sons, 1978.

- Tsai L.W., “Robot Analysis, The Mechanics of Serial and Parallel Manipulators”, John Wiley & Sons, 1999.

- J-P. Merlet. Parallel robots. Kluwer, Dordrecht, 2000.

- Sandler Ben-Zion, “Robotics: Designing the Mechanisms for Automated Machinery”, Academic Press, 1999.

- Rivin, E. I. “Mechanical design of Robots”, McGraw-Hill, 1988.

Teaching methods

The deductive approach is mainly adopted for the presentation of the theory. However, also the deductive approach is used in a number of issues.

The basic elements of the main issues are developed by lectures then a complete set of related applications are developed, with the aim of strengthening and further developing the learned theory.

Assessment methods

The final evaluation of the students is performed by a written examination . Oral exam is also allowed upon request of the student.

Teaching tools

The lectures are supported, when necessary, by physical models of mechanisms and part of machines.

Applications accompany the development of the theory by graphical and analytic methods and software tools (CAD systems and Matlab code).

Office hours

See the website of Vincenzo Parenti Castelli