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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 090944 - ROBOTICS
  • 090942 - ROBOTICS
Docente Gini Giuseppina
Cfu 5.00 Tipo insegnamento Modulo Di Corso Strutturato

Corso di Studi Codice Piano di Studio preventivamente approvato Da (compreso) A (escluso) Insegnamento
Ing Ind - Inf (1 liv.)(ord. 270) - MI (358) INGEGNERIA INFORMATICA* AZZZZ089013 - ROBOTICS
Ing Ind - Inf (Mag.)(ord. 270) - MI (434) INGEGNERIA INFORMATICA* AZZZZ089013 - ROBOTICS
090944 - ROBOTICS
Ing Ind - Inf (Mag.)(ord. 270) - MI (481) COMPUTER SCIENCE AND ENGINEERING - INGEGNERIA INFORMATICA* AZZZZ090944 - ROBOTICS
089013 - ROBOTICS

Programma dettagliato e risultati di apprendimento attesi

Aims and learning outcomes

This course aims at introducing students to the core aspects of robotics, including topics of multidisciplinary nature, and stressing the importance of integrating sensors, effectors and control. The course is targeted to computer engineering students, and gives emphasis on the computational aspects of motion control, modelling, sensor data acquisition and analysis.

 

Syllabus

1. THE ROBOT AS A SYSTEM

  • Functional model of a robot. From robot to robotics.
  • Structural and functional components of a robot (links, joints, actuators, sensors, …).
  • Role of the operator (telecontrolled, programmed, autonomous robot).

2. SPACE REPRESENTATION

  • Homogeneous transformations and coordinate frames coordinates. Euler angles.
  • Configuration space vs Cartesian space.

3. MOVEMENT DESCRIPTION AND COMPUTATION

  • Degrees of mobility and of freedom.
  • Classification and description of mechanical structures (chains, wheels, legs)
  • From Cartesian space to actuation space and back: kinematic models, Denavitt-Hartemberg notation, direct and inverse kinematics of manipulators and wheeled robots.
  • The Matlab robotics toolbox.

4. SENSING AND PERCEPTION

  • Types of sensors and their role as eteroceptive or proprioceptive sensors.
  • Triangulation and position estimation
  • Image acquisition and basic image analysis.
  • From computer vision to robot vision.

5. ROBOT CONTROL

  • Actuators for robotics.
  • Robot control based on kinematic model and on trajectory computation
  • Non holonomic constraints and the control of mobile robots.
  • Integration of external sensors (force, vision).

6. ROBOT PROGRAMMING

  • Languages in joint and in Cartesiam space.
  • Simulators, virtual reality, and middleware for robotics.
  • The user interface.

7. MAPS AND PATH PLANNING

  • Maps and C-space maps.
  • Geometric approaches to path planning and terrain covering.
  • Localization and guidance systems.

8. TASK EXECUTION

  • Telecontrol and semi-autonomous teleoperation.
  • Collision avoidance.
  • Architectures for autonomous robots: reactive, behavior based, deliberative.
  • Robots as physical agents; AI architectures and learning.

 Prerequisites

Prerequisites include a foundation in Linear Algebra, Calculus, and control theory, plus the ability to program.

  


Note Sulla Modalità di valutazione

The final written examination will be followed by an oral discussion about a personal technical homework or about a scientific paper.


Bibliografia
Risorsa bibliografica obbligatoriaSite of the course http://home.dei.polimi.it/gini/robot
Note:

Contains all the class lectures and some downloadable material.

Risorsa bibliografica facoltativaG. Gini, V. Caglioti, Robotica, Editore: Zanichelli, Anno edizione: 2003
Note:

only in Italian

Risorsa bibliografica facoltativaJ. J. Craig, Introduction to robotics , Editore: Prentice Hall, Anno edizione: 2003
Risorsa bibliografica facoltativaH. Choset and others, Principles of Robot Motion: Theory, Algorithms, and Implementations, Editore: The MIT Press, Anno edizione: 2011

Mix Forme Didattiche
Tipo Forma Didattica Ore didattiche
lezione
30.0
esercitazione
20.0
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 --
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
20/11/2019