CODE 56846 ACADEMIC YEAR 2019/2020 CREDITS 6 cfu anno 1 ROBOTICS ENGINEERING 10635 (LM-32) - GENOVA SCIENTIFIC DISCIPLINARY SECTOR ING-INF/04 LANGUAGE English TEACHING LOCATION GENOVA 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) RENATO UGO RAFFAELE ZACCARIA (President) MARCO BAGLIETTO ENRICO SIMETTI 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 23/01/2020 10:00 GENOVA Orale per Ing. informatica 03/02/2020 10:00 GENOVA Orale 13/02/2020 10:00 GENOVA Orale per Ing. informatica 19/02/2020 10:00 GENOVA Orale 12/06/2020 10:00 GENOVA Orale per Ing. informatica 01/07/2020 10:00 GENOVA Orale per Ing. informatica 17/07/2020 10:00 GENOVA Orale per Ing. informatica 30/07/2020 10:00 GENOVA Orale per Ing. informatica 09/09/2020 10:00 GENOVA Orale per Ing. informatica 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, …).
