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.
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.
- 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.
GIORGIO CANNATA (President)
GIUSEPPE CASALINO (President)
RENATO UGO RAFFAELE ZACCARIA (President)
MARCO BAGLIETTO
ENRICO SIMETTI
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, …).
