Learning objectives
This course teaches the basic knowledge about kinematics and dynamics of industrial robots. For this purpose, techniques based on multibody formulations will be adopted. Such methods allow a systematic approach to the analysis of threedimensional mechanisms, hence providing a valuable system to the computer-aided numerical simulation of industrial robots.
Practical topics related to the design of robotic devices and control systems will be discussed as well.
Prerequisites
None
Course unit content
History of robotics and automation
Applications of robotics in research and in industries
Main features of robots and their classification
Cinematic analysis of multibody systems, either in 2D and 3D
Inverse and Direct Kinematics, Jacobian, working volume, trajectories
Dynamics of multibody systems
Issues about dynamics in industrial robots
Numerical methods for the analysis of complex mechanisms
Programming and operative modes of industrial robots
Drives and transmissions for industrial robots
Grippers, safety devices, sensors and accessories
Mobile robots and navigation systems
Recent developments: parallel kinematics, artificial vision, off-line simulation
Full programme
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Bibliography
G. LEGNANI: "Robotica Industriale", Casa Ed. Ambrosiana, ISBN 88-408-1262-8, Milano.
Teaching methods
Lessons. Moreover, the students, organized in groups, will develop a small low-cost robot as an assignment.
Assessment methods and criteria
Oral discussion about the design project and about topics covered during the lessons
Other information
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