The course focuses on the kinematic and dynamic modelling, the control and the motion planning of industrial manipulators and mobile platforms (autonomous vehicles). At the end of the course the student will be able to partecipate to projects involving the design and the use of robots.
teacher profile teaching materials
- Direct kinematics
- Differential kinematics
- Inverse kinematics
- Trajectory planning
- Statics and manipulability ellipsoids
- Overview of the dynamic model
- Motion control schemes
- Overview of force control schemes
Mobile robotics:
- Basic Topological Concepts (Chapter 4.1, LaValle Planning Algorithms)
- 2D Rigid Bodies: SE(2) (Chapter 4.2.1, LaValle Planning Algorithms)
- Vector Fields and Integral Curves (Chapter 8.3, LaValle Planning Algorithms)
- Differential Models (Chapter 13.1, LaValle Planning Algorithms)
- Control Affine Systems (Chapter 15.4, LaValle Planning Algorithms)
- Motion Control (Chapter 11.6, Siciliano et al. Robotics)
- Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press, USA.
- Veysel Gazi and Kevin Passino. 2011. Swarm Stability and Optimization. Springer Publishing Company, Incorporated.
Programme
Manipulators (Chapters of Siciliano et al. Robotics):- Direct kinematics
- Differential kinematics
- Inverse kinematics
- Trajectory planning
- Statics and manipulability ellipsoids
- Overview of the dynamic model
- Motion control schemes
- Overview of force control schemes
Mobile robotics:
- Basic Topological Concepts (Chapter 4.1, LaValle Planning Algorithms)
- 2D Rigid Bodies: SE(2) (Chapter 4.2.1, LaValle Planning Algorithms)
- Vector Fields and Integral Curves (Chapter 8.3, LaValle Planning Algorithms)
- Differential Models (Chapter 13.1, LaValle Planning Algorithms)
- Control Affine Systems (Chapter 15.4, LaValle Planning Algorithms)
- Motion Control (Chapter 11.6, Siciliano et al. Robotics)
Prerequisiti
Fundamentals Of Automatic Control and possibly Dynamics and Control of Complex SystemsCore Documentation
- Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. 2009. Robotics: Modelling, Planning and Control. Springer Publishing Company, Incorporated.- Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press, USA.
- Veysel Gazi and Kevin Passino. 2011. Swarm Stability and Optimization. Springer Publishing Company, Incorporated.
Reference Bibliography
NoneType of delivery of the course
during COVID-19 emergency the class will be held according the current regulationsAttendance
Optional AttendanceType of evaluation
Oral Exam and Project Evaluation teacher profile teaching materials
• Direct kinematics: position and orientation representation, Denavit-Hartenberg convention.
• Differential kinematics: geometric and analytical Jacobian, singularities and redundancy.
• Inverse kinematics: Jacobian inverse and Jacobian transpose algorithms.
• Trajectory planning: joint-space and operational-space trajectories.
• Statics and manipulability ellipsoids: kineto-statics duality, velocity and force manipulability.
• Overview of the dynamic model: Lagrange formulation and model properties.
• Motion control schemes: decentralized and centralized control, in joint space and operational space.
• Overview of force control: compliance and impedance control.
Mobile robotics:
• Basic Topological Concepts (Chapter 4.1, LaValle Planning Algorithms)
• 2D Rigid Bodies: SE(2) (Chapter 4.2.1, LaValle Planning Algorithms)
• Vector Fields and Integral Curves (Chapter 8.3, LaValle Planning Algorithms)
• Differential Models (Chapter 13.1, LaValle Planning Algorithms)
• Control Affine Systems (Chapter 15.4, LaValle Planning Algorithms)
• Motion Control (Chapter 11.6, Siciliano et al. Robotics)
- Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press, USA.
Programme
Industrial Robotics (Chapters of Siciliano et al. Robotics):• Direct kinematics: position and orientation representation, Denavit-Hartenberg convention.
• Differential kinematics: geometric and analytical Jacobian, singularities and redundancy.
• Inverse kinematics: Jacobian inverse and Jacobian transpose algorithms.
• Trajectory planning: joint-space and operational-space trajectories.
• Statics and manipulability ellipsoids: kineto-statics duality, velocity and force manipulability.
• Overview of the dynamic model: Lagrange formulation and model properties.
• Motion control schemes: decentralized and centralized control, in joint space and operational space.
• Overview of force control: compliance and impedance control.
Mobile robotics:
• Basic Topological Concepts (Chapter 4.1, LaValle Planning Algorithms)
• 2D Rigid Bodies: SE(2) (Chapter 4.2.1, LaValle Planning Algorithms)
• Vector Fields and Integral Curves (Chapter 8.3, LaValle Planning Algorithms)
• Differential Models (Chapter 13.1, LaValle Planning Algorithms)
• Control Affine Systems (Chapter 15.4, LaValle Planning Algorithms)
• Motion Control (Chapter 11.6, Siciliano et al. Robotics)
Prerequisiti
Fundamentals Of Automatic Control and possibly Dynamics and Control of Complex SystemsCore Documentation
- Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. 2009. Robotics: Modelling, Planning and Control. Springer Publishing Company, Incorporated.- Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press, USA.
Reference Bibliography
NoneAttendance
Attendance is strongly recommended.Type of evaluation
The exam consists of a project carried out through homework assignments during the course and an oral exam that explores topics in manipulation and mobile robotics in depth. Each homework assignment covers one part of the programme, for example the kinematics and control of a manipulator. Students who do not submit the homework during the course complete an equivalent individual project, to be submitted before the oral exam. Students are assessed according to the Dublin descriptors, taking into account their level of knowledge, understanding and critical elaboration of the topics covered in the course. Students who show that they have acquired the fundamental concepts and can apply them in simple contexts will receive a pass mark. Average marks will be given to students who, besides mastering the basics, show the ability to analyse and independently rework more complex concepts. The highest marks are reserved for students who show in-depth understanding, the ability to synthesize, critical thinking, and independence in solving problems, including new problems or problems not explicitly addressed during the course.