Learning objectives
The course is conceived to provide students with the necessary tools that are required for the development of an industrial manipulators control system or, more in general, of a mechatronic control system.
In particular, the course will cover the following topics:
- Analysis of complex mechanical systems and development of dynamic models by taking into account the inertia and the friction effects;
- Nonlinear control techniques that are used for the management of the industrial manipulators;
At the end of the course, students will be able to:
- Independently develop the model of an industrial manipulator or of a mechatronic system;
- Study the behavior of an industrial manipulator or of a mechatronics system;
- Tune the control system of an industrial manipulator;
Prerequisites
The course requires a preliminary knowledge of some basic notions concerning the manipulator kinematics. Students must know and be able to use operators like rotation matrices, homogeneous transformation matrices, etc.. Short recalls, concerning some basic concepts, will be provided at the beginning of the course.
Course unit content
Short review of the manipulator kinematics (4 hours)
- The ellissoid of manipulability
Short review of the manipulator static equations (4 hours)
- The virtual works principle
The manipulators dynamics (20 hours)
- The center of gravity of the rigid systems
- The inertia tensor of the rigid systems
- The Stainer theorem
- The inertia tensor of composite systems
- Review of the Newton-Euler recursive algorithm
- The Euler-Lagrange approach
- The passivity property
- Solution of the direct dynamics problem
The manipulators control (16 hours)
- Reviews and extensions of the independent joints control techniques
- The Proportional-Derivative centralized control
- The inverse dynamics control
- The inverse dynamics control in the operational space
- The impedence control
- The force-position control
Full programme
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Bibliography
C. Guarino Lo Bianco, `` Analisi e controllo dei manipolatori industriali“, Pitagora editrice, Bologna,Italia 2011.
L.Sciavicco e B.Siciliano, ``Robotica industriale: modellistica, pianificazione e controllo'', third edition, McGraw-Hill Italia, 2008.
J.Craig, ``Introduction to Robotics'', third edition, Pearson, 2005.
Teaching methods
The course is taught by means of oral lessons, which contemplate both theoretical arguments and exercises.
A cycle of Lab lessons is planned in order to experimentally verify the acquired notions (14 hours).
Assessment methods and criteria
The final test is divided into two written parts:
- in the first part, students must solve some exercises concerning the system dynamics;
- in the second part, students must answer to some questions concerning theoretical arguments.
The final mark is obtained by averaging the marks of the two parts. The final mark can be incremented on the basis of the projectual Lab activities.
Intermediate tests are planned during the lessons period.
Other information
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