Teacher

prof. Alessandro GASPARETTO

Credits

3 CFU

Language

Italian

Objectives

1. Understanding the working principles of industrial robots. Building mathematical models of 3D mechanisms, to be employed in the synthesis of control systems.
2. Understanding the working principles of a mechatronic system. Building mathematical models of mechatronic systems, to be used in the synthesis of controllers. Performing the kinematic, static and dynamic analysis of a mechatronic system.

Acquired skills

- Ability to use techniques for kinematic and dynamic modeling of industrial manipulators.
- Knowledge of the structure and of the working principles of robots.
- Basic knowledge needed to operate on an industrial robot.

Lectures and exercises (topics and specific content)

Introduction to Mechatronics and Robotics: definition of Mechatronics and mechatronic systems; definition and classification of robots (4 hours).
Robot kinematics: mathematical tools for the kinematic analysis of robots; direct and inverse kinematics; application to industrial manipulators (PUMA, SCARA, etc.) (14 hours).
Statics and dynamics of robots: equilibrium equations for a 3-dimensional mechanism; applications (6 hours).
Robot motion planning: motion planning techniques; types of trajectories (6 hours).
Labs (40 hours).

References

- Lecture notes
- L. Sciavicco, B. Siciliano, "Robotica industriale", ed. McGraw-Hill
- W. Stadler, "Analytical robotics and mechatronics", ed. McGraw-Hill

Type of exam

Oral

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