28642 - Foundations of Industrial Robotics

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 Responsible consumption and production

Academic Year 2021/2022

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

This is a basic course on robotics. Fundamental knowledge about modelling and control of these mechanical systems is provided, leaving other material to more advanced courses. 

  • 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 of a robot.
  • 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 and other teaching material are available on "Virtuale".


Books (suggested):

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

"Handbook of Robotics", B. Siciliano, O. Khatib (Eds.), Springer

Teaching methods

The course is taught in English, and consists of 60 hours of lessons, (6 credits); Simulation tools will also be presented useful for studying concepts of kinematics, dynamics and control.

Assessment methods

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

In both the oral and written exam, the students will be asked to define the kinematic model of simple robotic mechanism, and to show proper knowledge of dynamic and control elements for robotics.

A supplementary oral session could be requested if the written test is not completely positive.

Teaching tools

Slides; Simulation tools (Matlab)

Office hours

See the website of Gianluca Palli

See the website of Roberto Meattini