28642 - FOUNDATIONS OF INDUSTRIAL ROBOTICS

Scheda insegnamento

  • Docente Claudio Melchiorri

  • Crediti formativi 6

  • SSD ING-INF/04

  • Modalità didattica Convenzionale - Lezioni in presenza

  • Lingua di insegnamento Inglese

  • Materiale didattico

    AMS Campus

Anno Accademico 2016/2017

Conoscenze e abilità da conseguire

Main types of robots and their use in work cells; Simulation and Programming Languages for robots.

Programma/Contenuti

  • Robotics and Industrial Automation; The "market" of industrial robots;
  • Structure and components of robots; Applications of industrial robots;
  • Homogeneous Transformations.
  • Kinematics: Direct and Inverse kinematic problems. Work-Space.
  • 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.

Testi/Bibliografia

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.

Metodi didattici

Il corso è erogato in lingua inglese, e consiste in 60 ore di lezione, (6 ECTS); Saranno presentati anche strumenti di simulazione con in quali si potranno approfondire alcuni concetti di cinematica, dinamica e controllo. 

Modalità di verifica dell'apprendimento

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.

Strumenti a supporto della didattica

Lucidi delle lezioni;   Strumenti in laboratorio

Orario di ricevimento

Consulta il sito web di Claudio Melchiorri