Robotics (2017/2018)

Course code
4S00078
Name of lecturers
Paolo Fiorini, Domenico Daniele Bloisi
Coordinator
Paolo Fiorini
Number of ECTS credits allocated
6
Academic sector
INF/01 - INFORMATICS
Language of instruction
Italian
Period
I sem. dal Oct 2, 2017 al Jan 31, 2018.

Lesson timetable

Go to lesson schedule

Learning outcomes

The objective of the course is to introduce the students to the main concepts of analysis, control, and programming of robotic systems, such a manipulators and autonomous vehicles. The course consist of three main parts:

* the first part presnts the main concepts of the analysis of open kinematic chains, such as robotic arms

* the second part of the course deals with the dynamical analysis of mechanical arm

* The last part of the course is devoted to discussing robotic control, with basic concepts on actuation and motion planning

An important part of the course is the final project, during which students will be able to develop their own ideas in robotics and run relevant simulations and experiments.

Syllabus

* Introduction to the course
* Spatial kinematics
* Direct kinematic of a manipulator arm
* Inverse kinematics of a manipulator
* Differential kinematics
* Trajectory computation for a robot
* Motion planning of a robot
* Robot dynamics
* Robot control
* Advanced topics: Telerobotics, sensors, haptics, ecc.

The course consists of about 40 hours of lecture, with presentaiton of the main concepts, carried out meaningful examples, and develop discussions with the students.

Reference books
Author Title Publisher Year ISBN Note
Roland Siegwart, Illah R. Nourbakhsh, Davide Scaramuzza Introduction to Autonomous Mobile Robots (second edition) The MIT Press 2011 0-262-01535-8
L. Sciavicco e B. Siciliano Robotica Industriale -- Modellistica e Controllo di Manipolatori (Edizione 2) McGraw Hills 2002

Assessment methods and criteria

The exam will consist of a project addressing some topics discussed during the course.

Statistics about transparency requirements (Attuazione Art. 2 del D.M. 31/10/2007, n. 544)

Data from AA 2017/2018 are not available yet