INDUSTRIAL ROBOTICS (semester course)
Prerequisites
Suggested prerequisites:
Controlli Automatici
Course contents summary
- Introduction to industrial robotics (1 hour)
Basic concepts on the mechanics and control of robotic manipulators.
- Reference systems and transformations (9 hours)
Description of joints positions and orientations. The rotational matrix. Translational and rotational operators. Minimum-order orientation notations: Fixed angles, Euler angles, angle-axis representation, Euler parameters. Computational considerations.
- Direct kinematics (4 hours)
Classification and description of robotic joints. Description of the links position and orientation: the modified Denavit-Hartenberg notation. The homogeneous transformation matrix. Joint space, operational space and manipulator workspace.
- Inverse kinematics (6 hours)
The solvability of the inverse kinematics problem. Geometric and algebraic solutions.
- Differential kinematics and static forces (12 hours)
Rigid bodies linear and angular velocities. The Jacobian matrix and its properties. Manipulator static forces: the forward recursive algorithm and the Jacobian approach.
- Dynamics (4 hours)
The inertia tensor matrix. Bodies center of mass. Inverse dynamics: the Newton-Euler backward recursive formulation. Direct dynamics: solution by means of simulation programs.
- Trajectory planning (12 hours)
Joint space trajectories. Point-to-point and multipoint trajectory generation using cubic polynomials. Point-to-point and multipoint trajectory generation using linear-quadratic functions. Operational space trajectories. Kinematics singularities.
Recommended readings
C. Guarino Lo Bianco, `` Analisi e controllo dei manipolatori industriali“, seconda edizione, Pitagora editrice, Bologna,Italia 2011.
L.Sciavicco e B.Siciliano, ``Robotica industriale: modellistica, pianificazione e controllo'', terza edizione, McGraw-Hill Italia, 2008.
J.Craig, ``Introduction to Robotics'', quarta edizione, Pearson, 2005.
Teaching methods
Due to the Covid emergency, the course will be held entirely online. Pre-recorded theoretical lessons are provided followed by in-depth live streaming sessions in which students can intervene. All the exercise lessons will be held in live streaming.
The course includes a series of online Lab lessons. In such lessons, a robotic manipulator will be simulated by means of the Scilab/Xcos environment (open source).
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 the direct and the inverse kinematics of a manipulator (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 two intermediate test sessions carried out during the lessons period.
The final score is obtained as a mean 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.
Depending on the Covid emergency, the exam tests will be executed in a classroom (by fulfilling the prescribed safety requirements) or online.
