CODE 56846 ACADEMIC YEAR 2016/2017 CREDITS 6 cfu anno 2 INGEGNERIA INFORMATICA 8733 (LM-32) - 6 cfu anno 1 ROBOTICS ENGINEERING (LM-25) - 6 cfu anno 1 ROBOTICS ENGINEERING (LM-32) - SCIENTIFIC DISCIPLINARY SECTOR ING-INF/04 LANGUAGE Inglese TEACHING LOCATION SEMESTER 1° Semester MODULES Questo insegnamento è un modulo di: MODELING AND CONTROL OF MANIPULATORS, CONTROL OF LINEAR MULTI VARIABLE SYSTEMS TEACHING MATERIALS AULAWEB AIMS AND CONTENT LEARNING OUTCOMES This course presents the fundamentals of the modeling and control techniques of serial manipulators. Topics include robot architectures, geometric modeling, kinematic modeling, dynamic modeling and its applications, as well as the classical PID controller and computed torque controller. SYLLABUS/CONTENT The following subjects will be treated: Robot architectures, joint space, operational space, - Homogenous transformation matrices, - Description of manipulator kinematics using modified Denavit and Hartenberg notations, - Direct geometric model, - Inverse geometric models using Paul’s method, Piper’s method and general methods, - Calculation of kinematic Jacobian matrix, - Inverse kinematics for regular and redundant robots, - Dynamic modeling using the Lagrange formalism, - Dynamic modeling using recursive Newton-Euler method, - Trajectory generation between two points in the joint and operational spaces, - Classical PID control - Computed torque Control. Practical Work: Exercises will be set, which will involve modeling some manipulators, and simulation of control laws. RECOMMENDED READING/BIBLIOGRAPHY - W. Khalil, and E. Dombre, Modeling, identification and control of robots, Hermes Penton, London, 2002. Further readings: - C.Canudas, B. Siciliano, G.Bastin (editors), Theory of Robot Control, Springer-Verlag, 1996 - J. Angeles, Fundamentals of Robotic Mechanical Systems, Springer-Verlag, New York, 2002. TEACHERS AND EXAM BOARD GIUSEPPE CASALINO Exam Board GIORGIO CANNATA (President) GIUSEPPE CASALINO (President) ENRICO SIMETTI (President) RENATO UGO RAFFAELE ZACCARIA (President) SIMONE DENEI LESSONS Class schedule MODELING AND CONTROL OF MANIPULATORS EXAMS ASSESSMENT METHODS 30% continuous assessment, 70% from end of semester examination. After completing this course the students will be able to: Understand the fundamentals of the mathematical models of serial robot manipulators and their applications in robots design, control and simulation. Understand the effect of the kinematic parameters on the manipulator characteristics. - Use the most convenient methods to obtain the required models, - Understand practical applications of the mathematical modeling of manipulators, - Use symbolic and numerical software packages (Matlab, Simulink, Maple, Mathematica, …). Exam schedule Data appello Orario Luogo Degree type Note 30/05/2017 10:00 GENOVA Orale 16/06/2017 10:00 GENOVA Orale 03/07/2017 10:00 GENOVA Orale 05/07/2017 10:00 GENOVA Orale 24/07/2017 10:00 GENOVA Orale 13/09/2017 10:00 GENOVA Orale FURTHER INFORMATION After completing this course the students will be able to: Understand the fundamentals of the mathematical models of serial robot manipulators and their applications in robots design, control and simulation. Understand the effect of the kinematic parameters on the manipulator characteristics. - Use the most convenient methods to obtain the required models, - Understand practical applications of the mathematical modeling of manipulators, - Use symbolic and numerical software packages (Matlab, Simulink, Maple, Mathematica, …).
