- Docente: Claudio Melchiorri
- Credits: 6
- SSD: ING-INF/04
- Language: English
- Teaching Mode: Traditional lectures
- Campus: Bologna
-
Corso:
First cycle degree programme (L) in
Automation Engineering (cod. 0920)
Also valid for Second cycle degree programme (LM) in Electronic Engineering (cod. 0934)
Learning outcomes
This course provides the basic knowledge of the main concepts and methodologies for modelling and control of industrial robots.
In particular, the course illustrates the main types of robots (anthropomorphic, Cartesian, ...) and their use in work cells; Kinematics and Dynamics; Decentralized control techniques; Centralized control techniques (PD+gravity compensation, Inverse dynamics); Simulation and Programming Languages for robots.
Course contents
- 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.
Readings/Bibliography
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.
Teaching methods
The course consists of 60 hours of teaching, (6 ECTS); Simulation
tools (Matlab/Simulink) are introduced to solve elementary problems 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
Notes of the teacher.
Laboratory setups
Office hours
See the website of Claudio Melchiorri