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Risorse bibliografiche
Risorsa bibliografica obbligatoria
Risorsa bibliografica facoltativa
Scheda Riassuntiva
Anno Accademico 2014/2015
Scuola Scuola di Ingegneria Industriale e dell'Informazione
Insegnamento 090914 - CONTROL OF INDUSTRIAL ROBOTS
Docente Rocco Paolo
Cfu 5.00 Tipo insegnamento Monodisciplinare

Corso di Studi Codice Piano di Studio preventivamente approvato Da (compreso) A (escluso) Insegnamento
Ing Ind - Inf (Mag.)(ord. 270) - MI (419) INGEGNERIA ELETTRONICA* AZZZZ090914 - CONTROL OF INDUSTRIAL ROBOTS
Ing Ind - Inf (Mag.)(ord. 270) - MI (434) INGEGNERIA INFORMATICA* AZZZZ090914 - CONTROL OF INDUSTRIAL ROBOTS
Ing Ind - Inf (Mag.)(ord. 270) - MI (436) INGEGNERIA DELL'AUTOMAZIONE* AZZZZ090914 - CONTROL OF INDUSTRIAL ROBOTS
Ing Ind - Inf (Mag.)(ord. 270) - MI (473) AUTOMATION AND CONTROL ENGINEERING - INGEGNERIA DELL'AUTOMAZIONE* AZZZZ090914 - CONTROL OF INDUSTRIAL ROBOTS
Ing Ind - Inf (Mag.)(ord. 270) - MI (476) ELECTRONICS ENGINEERING - INGEGNERIA ELETTRONICA* AZZZZ090914 - CONTROL OF INDUSTRIAL ROBOTS
Ing Ind - Inf (Mag.)(ord. 270) - MI (481) COMPUTER SCIENCE AND ENGINEERING - INGEGNERIA INFORMATICA* AZZZZ090914 - CONTROL OF INDUSTRIAL ROBOTS

Programma dettagliato e risultati di apprendimento attesi

Aims and learning outcomes

 

This course will present current and advanced methodologies for the control of robotic manipulators. After the review of some basic elements in robot kinematics, and the presentation of a few advanced topics, the dynamic model of the manipulator will be discussed, along with its main properties. The control of the manipulator will be addressed both in terms of motion planning and in terms of feedback control. Path and trajectory planning in joint space and in Cartesian space will be presented, together with advanced topics such as kinematic and dynamic scaling of trajectories and obstacle avoidance. Concerning the feedback control, independent joint control techniques will be first discussed, with emphasis on the role of the flexibility in the joints, then advanced model-based centralized controllers will be studied. The final part of the course will be devoted to the control of robots with external sensors, including both force sensors to control the physical interaction with the environment and vision sensors to model the environment and achieve visual servoing of the manipulator.

 

Syllabus

 

1. Introduction: Industrial robotics. Manipulator arms. Examples.

2. Advanced robot kinematics: Review of direct, inverse and differential kinematics. Kinematics of redundant manipulators.

3. Robot dynamics: Dynamic models of robot manipulators. Euler-Lagrange and Newton-Euler formulations. Main properties. Identification of dynamic parameters. Direct and inverse dynamics.

4. Motion planning: Path planning and trajectory planning. Joint space trajectories: point to point motion and interpolation of points (splines). Cartesian space trajectories. Kinematic and dynamic scaling of trajectories. Obstacle avoidance. Robot programming: examples. Task oriented programming (elements).

5. Control of robot manipulators: Independent joint control: P/PI joint controllers, role of joint flexibility. Advanced methods for joint control. Computed torque feedforward control. PD control with gravity compensation. Inverse dynamics control. Robust and adaptive control. Operational space control.

6. Interaction with the environment: Compliance control, impedance control, hybrid position/force control.

7. Control with vision sensors: Components of a visual system. Image processing. Image-based and position-based visual servoing.

 

Laboratory activities

Some of the training sessions will make use of computer simulation tools.

 

Prerequisites

Basics of Automatic Control and Mechanics.


Note Sulla Modalità di valutazione

Students will take a written examination, integrated by an oral one at the instructor’s discretion


Bibliografia
Risorsa bibliografica obbligatoriaB. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, 3rd Ed., Editore: Springer, Anno edizione: 2009, ISBN: 9781846286414 http://www.springer.com/engineering/robotics/book/978-1-84628-641-4
Risorsa bibliografica obbligatoriaB. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotica: modellistica, pianificazione e controllo, 3a Ed., Editore: McGraw-Hill Italia, Anno edizione: 2008, ISBN: 9788838663222 http://www.catalogo.mcgraw-hill.it/catLibro.asp?item_id=2317
Risorsa bibliografica facoltativaG. Magnani, G. Ferretti, P. Rocco, Tecnologie dei sistemi di controllo, 2a Ed., Editore: McGraw-Hill Italia, Anno edizione: 2007, ISBN: 9788838672750 http://www.catalogo.mcgraw-hill.it/catLibro.asp?item_id=2141

Mix Forme Didattiche
Tipo Forma Didattica Ore didattiche
lezione
32.0
esercitazione
16.0
laboratorio informatico
0.0
laboratorio sperimentale
0.0
progetto
0.0
laboratorio di progetto
0.0

Informazioni in lingua inglese a supporto dell'internazionalizzazione
Insegnamento erogato in lingua Inglese
Disponibilità di materiale didattico/slides in lingua inglese
Disponibilità di libri di testo/bibliografia in lingua inglese
Possibilità di sostenere l'esame in lingua inglese
Disponibilità di supporto didattico in lingua inglese
schedaincarico v. 1.6.1 / 1.6.1
Area Servizi ICT
22/02/2020