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 one (Parte A), which lasts 1h:30m, the student must solve some dynamics problem (maximum score 32/30);
in the second one (Parte B), which lasts 1h:30m, he must answer to questions concerning the course theoretical topics (maximum score 32/30).
The exam is passed if a score higher than 18/30 is gained in both the two parts.
"Parte A" can be passed by means of an intermediate test session carried out during the lesson period.
The final score is the mean value between the scores of the two parts. A maximum of two further points can be gained for the Lab activity executed during the lesson period.
The "Laude" grade is assigned if the final score is higher than 30/30.
Other information
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