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Scheda Riassuntiva
Anno Accademico 2019/2020
Scuola Scuola di Ingegneria Industriale e dell'Informazione
Insegnamento 052368 - CONTROL OF INDUSTRIAL AND MOBILE ROBOTS
Docente Bascetta Luca , Rocco Paolo
Cfu 10.00 Tipo insegnamento Corso Integrato

Corso di Studi Codice Piano di Studio preventivamente approvato Da (compreso) A (escluso) Insegnamento
Ing Ind - Inf (Mag.)(ord. 270) - MI (473) AUTOMATION AND CONTROL ENGINEERING - INGEGNERIA DELL'AUTOMAZIONE*AZZZZ052366 - CONTROL OF MOBILE ROBOTS
052368 - CONTROL OF INDUSTRIAL AND MOBILE ROBOTS
090914 - 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*AZZZZ052366 - CONTROL OF MOBILE ROBOTS
090914 - CONTROL OF INDUSTRIAL ROBOTS
Ing Ind - Inf (Mag.)(ord. 270) - MI (486) ENGINEERING PHYSICS - INGEGNERIA FISICA*AZZZZ090914 - CONTROL OF INDUSTRIAL ROBOTS

Obiettivi dell'insegnamento

This course is the integration of two modules, on Control of industrial robots and on Control of mobile robots, which will be run in parallel. The goal of the course is fully aligned with the overall goals of the Automation and Control Engineering Program, while being an excellent complement for students enrolled in other Programs (Computer Science and Engineering, Electronics Engineering, Engineering Physics, and others).

 

As for industrial robotics, the goal is to present current and advanced methodologies for the control of robotic manipulators. The module covers selected topics ranging from kinematic and dynamic modelling of an industrial robot, to motion planning and control, to control of the interaction of the robot with the environment. A mix of theoretical and industrially relevant topics characterizes the module, where extensive use of software for simulation and offline programming of robots will be made.

 

As for mobile robotics, the goal is to introduce the student to the fundamental aspects of modeling and simulation, planning and control, for mobile robots and mobile manipulators. The module covers the main aspects of mobile robotics and mobile manipulation, making reference to indoor, outdoor and off-road environments. Classical and advanced planning and control techniques are introduced. At the end of the module, a case study is presented to show the application of planning and control methodologies to a realistic problem, emphasizing the role of mobile robotics and mobile manipulation in different fields of automation.

 


Risultati di apprendimento attesi

The expected learning outcomes of the course belong to the technological and design area of the expected learning outcomes of the Program.

 

Specifically, at the end of the course, the student is expected to be able to:

 

-understand the role of industrial robots in the factory, why and where they should be used in the production systems;

-use mathematics to describe the motion of a robot;

-plan a suitable motion for the robot both in free environment and in presence of obstacles;

-tune an industrial motion control system and understand the rationale and potentialities of advanced nonlinear model based control strategies;

-manage the control of the interaction of the robot with the environment, either with force or with vision sensors;

-understand and master the new trends in industrial robotics, like collaborative robotics;

-use software programs to simulate and to offline program the robots;

- describe and explain how the kinematic and dynamic behaviour of a mobile robot or a mobile manipulator can be represented using a mathematical model;

- describe and explain how a path/trajectory planning problem for a mobile robot or a mobile manipulator can be solved, possibly considering the robot model and a multi-robot scenario;

- describe and explain how a regulation or a trajectory tracking control system for a mobile robot or a mobile manipulator can be designed, using linear and nonlinear control techniques;

- develop a kinematic or a dynamic model of a mobile robot or a mobile manipulator, using suitable simulation tools;

- design the navigation system, i.e., a planning and a control algorithm, for a mobile robot or a mobile manipulator.

 


Argomenti trattati

Control of industrial robots

 

1. Introduction: Industrial robots: basic concepts and examples. Selection of the robot based on the application. Market of industrial robotics. Trends in industrial robotics.

 

2. Robot kinematics: Review of direct, inverse and differential kinematics. Kinematics of redundant manipulators. Inverse differential kinematics.

 

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. Trajectories in the joint space: point to point motion and interpolation of points (splines). Kinematic and dynamic scaling of trajectories. Trajectories in the operational space : position and orientation trajectories. Robot programming languages: examples. Path planning with obstacle avoidance.

 

5. Control of robot manipulators: Approximate decentralized model of the robot. Review of independent joint control methods. Centralized model-based controllers. Computed torque feedforward control. PD control with gravity compensation. Inverse dynamics control. Robust and adaptive control. Operational space control.

 

6. Interaction with the environment: Force sensors. Impedance and admittance control. Hybrid position/force control.

 

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

 

Some of the practice sessions will make use of computer simulation tools and of commercial tools for robot offline programming.

 

Control of mobile robots

 

1. Introduction
Applications of mobile robots in indoor, outdoor and off-road scenarios
Ground and aerial mobile manipulation
Classical problems of mobile robotics
Fundamentals of hardware, software and control architectures

 

2. Kinematics of mobile robots
Kinematic configurations for indoor, outdoor, and off-road mobile robots
Holonomic and nonholonomic configurations
Kinematic models of mobile robots

 

3. Dynamics of mobile robots
Fundamentals of dynamic modeling for mobile robotics
Wheel-ground interaction modeling for indoor, outdoor, and off-road applications
The stability problem for off-road robots and mobile manipulators
Fundamentals of mobile robot multi-body simulation

 

4. Path/trajectory planning
Planning and control, a global and local perspective
Fundamentals of search based, sampling based, and model based planners
Planning in Cartesian and configuration space with sampling based techniques
Introducing robot kinodynamic and actuation constraints in the planning problem
Fundamentals of multi-robot planning

 

5. Regulation and trajectory tracking
Exact linearization and flatness form of classical mobile robot models
Fundamentals of odometric localization
Trajectory tracking using linear and nonlinear control laws
Position and pose regulation problem
Regulation and trajectory tracking as optimization problems

 

6. Mobile manipulation
Controlling a mobile robot and a manipulator as a whole system
Navigation and task execution: planning and control approaches
Fundamentals of coordination strategies for a fleet of mobile manipulators

 

7. Case study
Mobile manipulation for precision farming


Prerequisiti

Students attending this course are expected to know basics of modelling of mechanical systems and of automatic control.


Modalità di valutazione

The final assessment will be a written exam, consisting of both numerical exercises and theoretical questions.

The exam paper will be an integrated version of those of the two modules, to be covered in a single exam call.

 

In the written exam the student should be able to:

 

-compute the dynamic model of simple two degrees of freedom robots;

-compute or rescale a trajectory in joint space or in the operational space;

-tune the joint controller for an independent joint control industrial system;

-discuss the main properties of centralized model-based controllers;

-discuss the main properties of the control with force and vision sensors and solve simple numerical related design problems;

- write the kinematic model of a mobile robot, including holonomic and nonholonomic configurations;

- write the dynamic model of a mobile robot, including wheel-ground interaction;

- analyze the stability of an off-road mobile robot or mobile manipulator;

- describe and explain basic concepts and problems within path/trajectory planning, such as Cartesian/configuration space sampling based planning, kinodynamic planning, multi-robot planning;

- describe and explain basic concepts and problems within mobile robot trajectory tracking, such as linear and nonlinear trajectory tracking control, exact linearization, position and pose regulation, regulation and trajectory tracking using optimization techniques;

- design simple feedback control laws for regulation and trajectory tracking of mobile robots;

- describe and explain basic concepts and problems within mobile manipulation;

- give examples on applications of mobile robots and mobile manipulators in different application domains.


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
Risorsa bibliografica facoltativaPeter Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB, Editore: Springer, Anno edizione: 2011, ISBN: 9783642201431 https://doi.org/10.1007/978-3-642-20144-8
Risorsa bibliografica facoltativaKevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Editore: Cambridge University Press, Anno edizione: 2017, ISBN: 9781107156302 http://hades.mech.northwestern.edu/index.php/Modern_Robotics

Forme didattiche
Tipo Forma Didattica Ore di attività svolte in aula
(hh:mm)
Ore di studio autonome
(hh:mm)
Lezione
64:00
96:00
Esercitazione
12:00
18:00
Laboratorio Informatico
24:00
36:00
Laboratorio Sperimentale
0:00
0:00
Laboratorio Di Progetto
0:00
0:00
Totale 100:00 150:00

Informazioni in lingua inglese a supporto dell'internazionalizzazione
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Possibilità di sostenere l'esame in lingua inglese
Disponibilità di supporto didattico in lingua inglese
schedaincarico v. 1.6.5 / 1.6.5
Area Servizi ICT
05/12/2020