Robotics (2018/2019)



Course code
4S00078
Credits
6
Coordinator
Andrea Calanca
Academic sector
INF/01 - INFORMATICS
Language of instruction
Italian
Teaching is organised as follows:
Activity Credits Period Academic staff Timetable
Teoria 3 I semestre Andrea Calanca, Bogdan Mihai Maris

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Laboratorio 3 I semestre Andrea Calanca, Bogdan Mihai Maris

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Learning outcomes

The course aims at providing the theoretical foundations of kinematics, differential kinematics, dynamics and control of industrial and service robots with a particular focus on algorithms for kinematics and inverse kinematics and algorithms for position and force control in joint and operational spaces.

At the end of the course the student will have to demonstrate knowledge and ability to understand dynamic and kinematic models of robotic manipulators and actuation systems.

This knowledge will allow the student to derive the dynamic and kinematic models for robotic manipulators and to design suitable position and force control algorithms.

At the end of the course the student will have to demonstrate: i) to be able to define the technical specifications for a robotic system and to choose the most appropriate control architecture design; ii) the possess ability to communicate with different professionals (e.g., electronic, automatic and mechanical engineers) in order to design advanced robotic systems; iii) to be able to autonomously continue the studies on robot modeling and control.

Syllabus

* Introduction to the course * Spatial kinematics * Direct kinematic of a manipulator arm * Inverse kinematics of a manipulator * Differential kinematics * Robot dynamics * Robot control 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.

Assessment methods and criteria

The exam will be written and will include a project


Teaching aids
Title Format (Language, Size, Publication date)
01 - introduzione  pdfpdf (it, 702 KB, 12/10/18)
02 - cinematica  pdfpdf (it, 3191 KB, 14/12/18)
03 - dinamica (slides)  pdfpdf (it, 753 KB, 14/12/18)
04 - dinamica (dispensa)  pdfpdf (it, 339 KB, 18/12/18)
2018_10_17_Lab01_Medical_Robotics  pdfpdf (it, 3380 KB, 17/10/18)
2018_10_18_Lab02_Image_Guided_Procedures  pdfpdf (it, 5146 KB, 17/10/18)
2018_10_31_Lab03_Progettino  pdfpdf (it, 2513 KB, 31/10/18)
Instructions  zipzip (it, 8580 KB, 31/10/18)
LegoWorkshop  zipzip (it, 19 KB, 31/10/18)
Python  zipzip (it, 5 KB, 31/10/18)

STUDENT MODULE EVALUATION - 2017/2018