Robotics (2019/2020)



Course code
4S00078
Credits
6
Coordinator
Paolo Fiorini
Academic sector
INF/01 - INFORMATICS
Language of instruction
Italian
Teaching is organised as follows:
Activity Credits Period Academic staff Timetable
Teoria 3 I semestre Diego Dall'Alba

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Laboratorio 3 I semestre Paolo Fiorini

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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 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.

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 agreed upon with the teacher.


Reference books
Activity Author Title Publisher Year ISBN Note
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