Learning objectives
The course is focused on the study of the industrial robotic manipulators. More precisely, the kinematics, the dynamics and the control of robotic manipulators are deeply investigated. The trajectory planning problem is analyzed and several planning schemes are proposed.
Prerequisites
Suggested prerequisites<br />Controlli Automatici, <br />Controlli Digitali
Course unit content
- Introduction to industrial robotics.<br />
Basic concepts on the mechanics and control of robotic manipulators.<br />
- Reference systems and transformations.<br />
Description of joints positions and orientations. The rotational matrix. Translational and rotational operators. Minimum-order orientation notations: Fixed angles, Euler angles, angle-axis representation, Euler parameters. Computational considerations.<br />
- Direct kinematics.<br />
Classification and description of robotic joints. Description of the links position and orientation: the modified Denavit-Hartenberg notation. The homogeneous transformation matrix. Joint space, operational space and manipulator workspace.<br />
- Inverse kinematics.<br />
The solvability of the inverse kinematics problem. Geometric and algebraic solutions.<br />
- Differential kinematics and static forces.<br />
Rigid bodies linear and angular velocities. The Jacobian matrix and its properties. Manipulator static forces: the forward recursive algorithm and the Jacobian approach.<br />
- Dynamics.<br />
The inertia tensor matrix. Bodies center of mass. Inverse dynamics: the Newton-Euler backward recursive formulation. Direct dynamics: solution by means of simulation programs.<br />
- Control.<br />
Individual-joint PID control with or without gravity compensation. Dynamic inversion-based control techniques. Torque feedforward control with feedback compensation.<br />
- Trajectory planning.<br />
Joint space trajectories. Point-to-point and multipoint trajectory generation using cubic polynomials. Point-to-point and multipoint trajectory generation using linear-quadratic functions. Operational space trajectories. Kinematics singularities.
Full programme
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Bibliography
C. Guarino Lo Bianco, `` Cinematica dei manipolatori“, Pitagora editrice, Bologna,Italia 2004.<br />L.Sciavicco e B.Siciliano, ``Robotica industriale: modellistica e controllo di manipolatori'', McGraw-Hill Italia, 1995.<br />J.Craig, ``Introduction to Robotics'', seconda edizione, Addison-Wesley, 1989.<br />
Teaching methods
<strong>Teaching activities</strong><br />
The course is manly based on oral lessons. Assisted exercitations are carried out at the Didactical Laboratory. They aim to deepen the knowledge of the manipulators dynamics and control. The dynamics of a robotic manipulator and its controller are simulated by means of the Simulink program.<br />
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<strong>Examination methods</strong><br />
The final test is divided into two written parts: in the first part the student has to solve the direct and the inverse kinematics of a manipulator, while in the second part he has to answer to questions concerning the course theoretical arguments.<br />
Several intermediate tests are carried out during the lessons period.
Assessment methods and criteria
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Other information
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