|Teoria||3||I semestre||Andrea Calanca, Bogdan Mihai Maris|
|Laboratorio||3||I semestre||Andrea Calanca, Bogdan Mihai Maris|
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.
* 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.
The exam will be written and will include a project
|Title||Format (Language, Size, Publication date)|
|01 - introduzione||pdf (it, 702 KB, 12/10/18)|
|02 - cinematica||pdf (it, 3191 KB, 14/12/18)|
|03 - dinamica (slides)||pdf (it, 753 KB, 14/12/18)|
|04 - dinamica (dispensa)||pdf (it, 339 KB, 18/12/18)|
|2018_10_17_Lab01_Medical_Robotics||pdf (it, 3380 KB, 17/10/18)|
|2018_10_18_Lab02_Image_Guided_Procedures||pdf (it, 5146 KB, 17/10/18)|
|2018_10_31_Lab03_Progettino||pdf (it, 2513 KB, 31/10/18)|
|Instructions||zip (it, 8580 KB, 31/10/18)|
|LegoWorkshop||zip (it, 19 KB, 31/10/18)|
|Python||zip (it, 5 KB, 31/10/18)|