73022 - Industrial Robotics M

Learning outcomes

The learning outcomes are: abilities for understanding and defining the kinematic and dynamic models of an industrial robot, the knowledge of advanced position/force control schemes; concept and tools for mobile robotics; trajectory planning for robots and drives in industrial automation.

Course contents

Elements of Kinematics and Dynamics for robotics; Advanced Position/Force control Schemes (Robust control, Adaptive control, learning control, Hybrid force/position control, Impedance control); Mobile robotics (modelling and control); Trajectory planning (in joint and work space); Advanced applications of robots.

Readings/Bibliography

- Notes prepared by the professor.

- B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, ROBOTICA: MODELLISTICA,

- PIANIFICAZIONE E CONTROLLO, McGraw-Hill Italia, 2008, McGraw-Hill Italia, 2008.

- B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, ROBOTICS: MODELLING PLANNING AND CONTROL, Springer-Verlag, 2009.

- B. Siciliano, O. Khatib, HANDBOOK OF ROBOTICS, Springer, 2009.

- L. Biagiotti, C. Melchiorri, TRAJECTORY PLANNING FOR AUTOMATIC

MACHINES AND ROBOTS, Springer, 2008.

Teaching methods

Frontal lessons (about 5 ECTS, i.e. 50 hours) and practical activities on mobile robots (1 ECTS, 10 hours).

Assessment methods

Oral examination, with discussion of a report on the practical work.

Teaching tools

Material: the material presented in class is made available to the students in electronic form via Internet.
To get educational materials: Follow the instructions given to the first lesson.
There is a laboratory activity, with the use of mobile robots which are self-constructed by students with material provided during the course.

Links to further information

http://www-lar.deis.unibo.it/people/cmelchiorri/robotica_magistrale.html

Office hours

See the website of Claudio Melchiorri