Second Cycle Degree Programme in Robotics and Automation Engineering
Prof.: Marco Gabiccini
The aim of this class is to provide the students with the fundamental tools for the analysis, modeling and functional design of robotic systems in their broadest sense: mechanical systems with sensor capabilities, high degree of autonomy, and ability to interact with the environment and with humans.
Upon taking this class the students will be able to: distinguish the different types of robots and their field of application, define the geometric, kinematic and dynamic models of robotic manipulators (both serial and parallel chains), and apply the algorithms for their calibration, velocity control and dynamic simulation.
- Introduction: Robotics and industrial automation
- Robot geometry and kineto-static duality for serial and parallel manipulators: description of poses with homogeneous matrices; Denavit-Hartenberg parametrization; Direct and inverse kinematics; Jacobian matrices and kinematic singularities; closed-form and numerical methods for the IK problem; twist and wrenches and their transformations; kineto-static duality; manipulability indices.
- Dynamics: Rigid body dynamics; Kinetic and potential energy; Euler-Lagrange equations and standard forms in robotics; Recursive Newton-Euler formulation; Linearity in the dynamic parameters.
- Constrained systems: holonomic and non-holonomic constraints; Elastic constraints; dynamics of constrained systems (Lagrange-d'Alembert approach, quasi-velocities, augmented formulation); constraint stabilization with Baumgarte's method.
face to face
- B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, “Robotica – Modellistica, Pianificazione e Controllo”, McGraw-Hill, Terza Edizione, 2008.
- Notes of the lecturer (available on the lecturer's website)
Recommended readings include:
- R. M. Murray, Z. Li, S. S. Sastry, “A Mathematical Introduction to Robotic Manipulation”, CRC Press, 1994.
- M. W. Spong, S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, J. Wiley & Sons, 2006.
- J. Angeles, “Fundamentals of Robotic Mechanical Systems: theory, methods and algorithms”, Springer, Second Edition,2003.
- L. W. Tsai, “Robot Analysis – The Mechanics of Serial and Parallel Manipulators”, J. Wiley & Sons, 1999.
- A. A. Shabana, “Dynamics of Multibody Systems”, Cambridge University Press, Third Edition, 2005
The standard exam consists of a final written exam where the students have to show their capability of analyzing, modeling and solve a kinematic and/or dynamic problem involving a robotic mechanical system. Upon choice of the student, instead of the standard exam, he/she can decide to take on a project which can consist of a theoretical research or a laboratory activity, in which he/she shows the ability of apply the concepts studied in class to a real, research-interest, problem.
The students will be assessed on their ability to define analytically the problem at hand and devise practical ways for their solution. With the project, which will be documented in a report and with laboratory activities and/or software code implementation, they will demonstrate the ability to approach a well-defined research problem.
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