34303 - Robotics M

Learning outcomes

Basic tools for the kinematic, static and dynamic modelling of open chains (serial manipulators) and closed chains (parallel manipulators) that are at the bases of actual industrial robots.

Course contents

The course aims at providing the students with the basics elements for the kinematic modelling of open chains (serial manipulators) and closed chains (parallel manipulators). It features the following main sections:

1. ORIGINS AND HISTORY OF ROBOTS. Introduction. Origins. State of the art of Robotics. Classification of robots. Aim of industrial Robotics. Main issues of industrial Robotics.
2. STRUCTURE AND GENERAL CHARACTERISTIC OF ROBOTS. Introduction. Structure of a robot. The manipulator and its control. Sensors. Main characteristics of an industrial robot.
3. MATRIX FOR THE COORDINATE TRANSFORMATION. Introduction. Position and orientation of a rigid body and reference systems. Matrices for the transformation of the coordinates. Rotations and translations. Omogeneous transformations.
4. KINEMATICS OF MANIPULATORS. Introduction. Kinematic model of a manipulator. Matrices of Denavit-Hartenberg, Litvin, and Morgan. Kinematic equations. Degrees of freedom. Direct kinematic problem. Inverse kinematic problem. Differential relations of motion. Kinematic model of instantaneous motion. Infinitesimal rotation and translations. Jacobian of a manipulator. Analytical determination of the Jacobian. Numerical computation of the Jacobian. Singularity. Inverse kinematics: velocity solution. Redundant manipulators: optimal solution.
5. PARALLEL MANIPULATORS. Direct and inverse kinematic analysis. Singularities. Kinetostatic and dynamic analyses.
6. STATICS OF MANIPULATORS. Introduction. Analysis of forces and motion. Force and moments balancing.
7. DYNAMICS OF MANIPULATORS (SERIAL AND PARALLEL). Introduction. Acceleration of a rigid body. Equation of motion (Newton-Euler). Dynamic equation in analytic form. Iterative formulation of the equations of motion. Physical interpretation of the equations of motion. Direct dynamic problem. Inverse dynamic problem.
8. TRAJECTORY GENERATION. Introduction. Generalities on the generation and description of the trajectory. Trajectory generation in joint and Cartesian space. Trajectory planning based on the dynamic model.
9. POSITION CONTROL OF MANIPULATORS. Introduction. Control of a mass with one degree of freedom. Non linear systems and time varying systems. The problem of the manipulator control. Control system of industrial robots. Adaptive control.
10. FORCE CONTROL OF MANIPULATORS. Introduction. Applications of industrial robot in assembly tasks. Force sensors. Hybrid position-force control. Control schemes of the actual robot.
11. INDUSTRIAL ROBOT ACTUATORS AND MOTION TRANSMISSION. Introduction. Electric motors. Pneumatic actuators. Hydraulic actuators. Actuators Harmonic drive and planetary gears. Design elements of the kinematic pairs.
12. CRITERIA OF USE OF INDUSTRIAL ROBOTS. Introduction. Economic evaluation of the use of robots. Robot in the manufacturing process. Applications: examples of assembly, of manipulation and of manufacturing processes.

Exercises:

1. Inverse position analysis of the PUMA robot

1. position analysis of the mechanism of type 6-6.

2. Dynamic analysis of a 2R spatial manipulator

3. Kinematic and dynamic analysis of the Delta robot

Readings/Bibliography

- Siciliano, B., Sciavicco B., Villani L., Oriolo G., "Robotics: Modelling, Planning and Control", 2009, Springer

- Craig J., Introduction to Robotica, Mechanics and Control, 1989, Addiso-Wesley Publishing Company

- Erdman and Sandor, “Analysis and Synthesis of Mechanisms”, voll. 1 and 2, 1990, Prentice-Hall.

- Suh C.H. and Radcliffe C. W., “Kinematics and Mechanisms Design”, John Wiley & Sons, 1978.

- Tsai L.W., “Robot Analysis, The Mechanics of Serial and Parallel Manipulators”, John Wiley & Sons, 1999.

- J-P. Merlet. Parallel robots. Kluwer, Dordrecht, 2000.

- Sandler Ben-Zion, “Robotics: Designing the Mechanisms for Automated Machinery”, Academic Press, 1999.

- Rivin, E. I. “Mechanical design of Robots”, McGraw-Hill, 1988.

Teaching methods

The course is based on lectures, during which the arguments of the program will be covered, and on exercises hours, which will present application examples related to the themes discussed during lectures.

Assessment methods

Written examination

Teaching tools

Visits to robotics laboratories, PCs and video projectors. Lecture notes, presentations and other teaching materials will be available on IOL

Office hours

See the website of Rocco Vertechy