|Teoria||3||I semestre||Diego Dall'Alba|
|Laboratorio||3||I semestre||Paolo Fiorini|
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 consists of three main parts:
* the first part presents 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 arms
* 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.
* 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 agreed upon with the teacher.
|Laboratorio||Roland Siegwart, Illah R. Nourbakhsh, Davide Scaramuzza||Introduction to Autonomous Mobile Robots (second edition)||The MIT Press||2011||0-262-01535-8|
|Laboratorio||L. Sciavicco e B. Siciliano||Robotica Industriale -- Modellistica e Controllo di Manipolatori (Edizione 2)||McGraw Hills||2002|