Teacher

prof. Stefano MIANI

Credits

3 CFU

Language

Italian

Objectives

This part of the course is aimed at furnishing an introduction to the theory of robotics and mechatronics, covering the fundamental aspects of this field. The main topics will include rigid motions, homogeneous transformations, forward and inverse kinematics of multi body manipulators, velocity kinematics, motion planning and trajectory generation, sensing and sensors, vision, modeling and control.

Acquired skills

- Ability to use techniques for kinematic and dynamic modeling of industrial manipulators

Lectures and exercises (topics and specific content)

Dynamics and control: dynamic systems, dc motors, dc gain and load torque rejection, position and velocity control (9 hours).
Sensors and actuators: sensors and actuators for robots. Artificial vision systems (4 hours).
Control: manipulator control, joint space decentralized and centralized control, operational space contro, forward kinematics (10 hours).
Software tools: Matlab and simulink toolboxes for robot simulation (2 hours).
Tutorials/Seminars (6 hours).

References

- Textbook: Modelling, Planning and Control, Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G. 2009
- Series: Advanced Textbooks in Control and Signal Processing
- Springer

Type of exam

Lab experience and oral exam

Additional material or information on line