Mechatronics and Robotics – module A (the English translation of "Meccatronica e robotica - modulo A")
Teacher
prof. Alessandro GASPARETTO
Credits
3 CFU
Language
Italian
Objectives
- Understanding the working principles of industrial robots. Building mathematical models of 3D mechanisms, to be employed in the synthesis of control systems.
- 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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