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Risorsa bibliografica obbligatoria
Risorsa bibliografica facoltativa
Scheda Riassuntiva
Anno Accademico 2019/2020
Scuola Scuola di Ingegneria Industriale e dell'Informazione
Insegnamento 051583 - ROBOTICS AND MECHATRONICS
Docente Bucca Giuseppe
Cfu 8.00 Tipo insegnamento Monodisciplinare

Corso di Studi Codice Piano di Studio preventivamente approvato Da (compreso) A (escluso) Insegnamento
Ing Ind - Inf (Mag.)(ord. 270) - LC (485) MECHANICAL ENGINEERING - INGEGNERIA MECCANICA*AZZZZ051583 - ROBOTICS AND MECHATRONICS

Obiettivi dell'insegnamento

The purpose of the course is to provide the necessary tools required for the analysis and design of both mechatronic and robotic systems. Starting from the analysis of relevant real-world mechatronic/industrial automation/robotic systems, the student is taught how to analyse and synthesize these systems, accounting for the given boundary conditions: notions about motion planning and control (also taking into account actuators and transducers), continuous time controllers and PLCs (Programmable Logic Controllers) and Industry 4.0 paradigms (wireless smart sensor networks, real-time and embedded systems, industrial communication networks and protocols, distributed control systems) are provided to the student. A real case mechatronic problem taken from industry is used as a case study to show a realistic application of these tools.


Risultati di apprendimento attesi

Knowledge and understanding

Once the student has passed the exam, the student will:

- know methods to analyse mechatronic and robotic systems, also developing mathematical models;

- understand and know the methods to design mechatronic and robotic systems keeping into account the boundary conditions related to the real applications;

- understand and know the classical and state space control theories;

- know basic notions about continuous time controllers and PLC and Industry 4.0 paradigms for industrial automation applications.

 

Applying Knowledge and understanding

 Once the student has passed the exam, the student will:

- be able to analyse mechatronic and robotic systems by means of the use of suitable mathematical models;

- be able to design mechatronic and robotic systems considering the different constraints related to the particular real applications;

- be able to choose the most suitable control (motion control, vibration control, etc) and to design it for mechatronic and robotic systems;

- be able to apply the state observer theories to estimate state variables; 

- be able to analyse basic problems related to the industrial automation;

- be able effectively communucate the results of the analysis and design of mechatronic and robotic systems.


Argomenti trattati

 1. Motion planning: introduction to motion generation in mechanical systems: point-to-point motion planning and trajectory planning; motion laws; optimization of motion laws

2. Motion control: introduction to motion control problems; control system architectures; classical (standard form, feed-forward and feedback control) and state space control (pole placement method, linear optimal control and outline of nonlinear optimal control; deterministic and stochastic state observers; pay-load and motor motion control

3. Vibration control: active and passive vibration control; co-located and non-co-located control; modal control and spill-over effect

4. Robotics: introduction to robotics; robot kinematics; robot dynamics; joint space and Cartesian space motion planning; robot control architectures

5. Industrial automation: introduction to PLC and industrial automation; ladder logic and ladder diagrams

6. Industry 4.0: wireless smart sensor networks; real-time and embedded systems; industrial communication networks and protocols (CAN, LIN, ProfiBus, EtherNet, DeviceNet); distributed control systems

Laboratory activities are carried out to numerically test the learned models. Some real applications are analysed during laboratory activities.

 

 


Prerequisiti

Knowledge of mechanical system dynamics, measurements and basic theory of control of mechanical systems are needed.


Modalità di valutazione

The course will offer lectures and laboratory activities. Seminars, held by experts on some specific topics (different year by year), will be organized.

Course attendance is warmly suggested. Students’ skills and knowledge will be evaluated by an oral exam about the topics dealt with within the course and about reports of the laboratory activities that students are required to produce.

In the oral exam, the student is expected to:

- discuss and present the methods for the analysis and design of mechatronic and robotic systems;

- discuss and present the classical and state space control theory and the application to motion and vibration control;

- discuss and present the laboratory activities which refer to real applications.


Bibliografia
Risorsa bibliografica obbligatoriaBernard Friedland, Control System Design: An Introduction to State-Space Methods, Editore: Dover
Risorsa bibliografica obbligatoriaSiciliano Bruno, Khatib Oussama, Springer Handbook of Robotics, Editore: Springer
Risorsa bibliografica facoltativaOgata Katsuhiko, Modern Control Engineering, Editore: Prentice-Hall

Forme didattiche
Tipo Forma Didattica Ore di attività svolte in aula
(hh:mm)
Ore di studio autonome
(hh:mm)
Lezione
40:00
60:00
Esercitazione
0:00
0:00
Laboratorio Informatico
28:00
42:00
Laboratorio Sperimentale
12:00
18:00
Laboratorio Di Progetto
0:00
0:00
Totale 80:00 120:00

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
28/02/2020