84228 - INDUSTRIAL ROBOTICS M

Scheda insegnamento

  • Docente Claudio Melchiorri

  • Crediti formativi 6

  • SSD ING-INF/04

  • Modalità didattica Convenzionale - Lezioni in presenza

  • Lingua di insegnamento Inglese

  • Orario delle lezioni dal 18/09/2019 al 14/11/2019

SDGs

L'insegnamento contribuisce al perseguimento degli Obiettivi di Sviluppo Sostenibile dell'Agenda 2030 dell'ONU.

Imprese innovazione e infrastrutture

Anno Accademico 2019/2020

Conoscenze e abilità da conseguire

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.

Contenuti

  • 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).

Testi/Bibliografia

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

Metodi didattici

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.

Modalità di verifica dell'apprendimento

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.

Strumenti a supporto della didattica

Notes of the teacher.
Laboratory setups

Orario di ricevimento

Consulta il sito web di Claudio Melchiorri