ROBOTICS

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

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.

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.

[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