84228 - Industrial Robotics M

Course Unit Page

SDGs

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

Industry, innovation and infrastructure

Academic Year 2019/2020

Learning outcomes

The course provides the basic competencies in the field of industrial robotics. The main topics addressed in the course are basic concepts of robotics (kinematic and dynamic models, basic control schemes), illustration of advanced control schemes for position and force control of industrial manipulators (robust control, adaptive control, learning control, stiffness, impedance, hybrid position/force), trajectory planning for robots and automated machines, modeling and control aspects of mobile robotics. Theoretical aspects presented in the course are then used in practical activities on designing and controlling a mobile robot (LEGO). Advanced robotic applications (robotics in medicine, haptic systems, telemanipulation, etc.) are also presented. At the end of the course students know basic robotic technologies and they master modeling and advanced control aspects of robots used in industrial and research settings.

Course contents

  • Basic concepts of robotics (kinematic and dynamic models, basic control schemes).
  • Advanced position control schemes: robust control, adaptive control, learning control, repetitive control.
  • Force control of industrial manipulators: stiffness, impedance, hybrid position/force control.
  • Trajectory planning for robots and automatic machines.
  • Modeling and control aspects of mobile robotics.
  • Advanced robotic applications (robotics in medicine, haptic systems, telemanipulation, etc.).

The theoretical aspects are applied in practical activities on designing and controlling mobile robots (LEGO).

Readings/Bibliography

Notes are available online (Insegnamenti OnLine and AMS Campus).
Books: "Robotics: Modelling, Planning and Control", B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Springer Ed.

Teaching methods

The course consists of 90 hours of teaching, (9 ECTS); Simulation tools (e.g. Matlab/Simulink) are introduced to solve problems of kinematics, dynamics and control. Laboratory activity is planned.

Assessment methods

Final assessment consists in a written/oral exam. In case some practical work has been assigned during the course, it will be verified during the exam.

Teaching tools

Notes of the teacher.
Laboratory setups

Office hours

See the website of Claudio Melchiorri