The course encompasses industrial manipulators and mobile platforms(autonomous vehicles) and provides the basis of the kinematic e dynamic modelling and of the motion control and planning.
At the end of the coursee the student will be able to partecipate to projects involving the design and the use of robots.
At the end of the coursee 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)
- Multi-Robot Swarming (Chapter 3, Gazi & Passino, Swarm Stability and Optimization)
- 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)
- Multi-Robot Swarming (Chapter 3, Gazi & Passino, Swarm Stability and Optimization)
Core 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
Not ApplicableType of evaluation
during COVID-19 emergency exams will be held according the current regulations 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)
- Multi-Robot Swarming (Chapter 3, Gazi & Passino, Swarm Stability and Optimization)
- 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)
- Multi-Robot Swarming (Chapter 3, Gazi & Passino, Swarm Stability and Optimization)
Core 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 the COVID-19 emergency period, the lectures will follow the current regulations.Attendance
Not applicableType of evaluation
During the COVID-19 emergency period, the current regulations will be applied.