ING-INF/04 - 9 CFU - 2° Semester

Teaching Staff

Office: Edificio 3 - Città Universitaria
Phone: 095-7382321
Office Hours:

Learning Objectives

Knowledge and understaning

Modeling, simulation and control of robotic manipulators and mobile robotic platforms.

Applying Knowledge and understaning

At the end of the course the student will understand how a robotic system works and how to design a controller for a robotic system.

Course Structure

The course is divided into three parts:

A. Lectures. Kinematics, Dynamics, Control, Model of manipulators and mobile robots. Example of applications of robotics.

B. Exercise. Computing tools for analysis and control of robots. MATLAB/SIMULINK. ROS.

C. Laboratory. Practical Experiments performed on real industrial manipulators and mobile platforms.

Should teaching be carried out in mixed mode or remotely, it may be necessary to introduce changes with respect to previous statements, in line with the programme planned and outlined in the syllabus.

Detailed Course Content

Introduction: Historical Developments, classification of robots, robot components. Applications and robotic Market.

Kinematics and dynamics: Direct kinematics Transformation, rotation matrices, Denavit-Hartenberg representation, kinematic equations of the manipulator, inverse kinematics transformation, differential kinematics, Jacobian matrix, Static, stiffness and compliance, Manipulability Ellipsoids. Analysis of redundancy. Dynamics equations of a robot arm.

Calculation of the trajectories of a manipulator: Trajectory planning, trajectories in the joint space and operational space.

Control: closed loop servo position, PID controller, decentralized control, centralized control, robust control, adaptive control. Operational space control. Interaction control, force control, hybrid control.

Sensors and actuators for robotics systems: joints actuators, electrical drives, hydraulic and pneumatic systems, proprioceptive sensors, exteroceptive sensors.

Vision for robotics: image capture, image geometry, basic relations between pixels, preprocessing, segmentation, description, recognition, interpretation. Visual control of a robot.

Service robots: Definition of service robots, service robots applications.

Mobile robots: Navigation of a mobile robot, Dead Reckoning, Odometry, Map-Building, map matching. Trajectory control of mobile robots. Non-holonomic robots. Examples of service robots.

Laboratory of robotics: Experiences of planning and control of robot manipulators and mobile robots.

Textbook Information

[1] B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo,“Robotica”, Mc Graw-Hill Italia

[2] B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo,“Robotics”, Springer
[3] R. Siegwart, I. Nourbakhsh, “Introduction to Autonomous Mobile Robots”, MIT Press

[4] Course notes on studium

Open in PDF format Versione in italiano