|SCIENTIFIC DISCIPLINARY SECTOR||ING-INF/04|
The course presents the fundamentals of the modeling and control techniques for serial manipulators. Main topics are geometric and kinematic modeling, kinematic based control in the operational space and its functional and algortitmic architetures (KCL: Kinematic Control Layer).
The dynamic modelling and the relevant joint-space control techniques, and their functional and algorithmic architecture will instead be only introduced in general terms (since developed in details on another course) as the lower contol layer (DCL: Dynamic Control Layer) nested inside the outer Kinematic based control loop (KCL: Kinematic Control Layer), which constitutes the main objective of the course .
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.
Aims: Provide to the student the fundamentals about geometry and kinematic modelling and control on a kinematic basis (KCL: Kinematic Conytol Layer) of robotic manipulators; with a particular emphasis given to the structure of functional and agorithmic control architecture arising as the outcome of the illustrated modelling meìhodologies.
Learning oucomes: capability of modelling the geemetry and the kinematics of a manipuator and only very partially its dysmamic (since developed innanother course). Capability of orgsanizing the overall functional and algoritmic KCL architecture of a manipulator. Capability of structuring the achievenìment of assigned specific motion control objective, based on the developed overall functional and algoritmic KCL architecure.
Fundamentals (even if will be reviewed) of Euclidean geometry, kinematics and (very partially) Newtonian dynamic.
Fundamental of System Theory and/or Classical Automatic Control theory
In case of perduring of the Covid 19 situation, lessons will be given on-line via the Microsoft platform TEAM.
In this occurrence lesson will be recorded and the recordings let available to the audience
Oppositely (i,e. no perduring of the Covid 19 situation) the lessons will be given in presence
The course is organized into 5 chapters:
1- General geometric fundamental and algorithmic tools
2- Robot Geometry: the Geometric Model funtionality and related Geometric Computing functinality
3- General Kinematic fundamental and algorithmic tools
4- Robot kinematics: Basic Jacobian matrices; Task Jacobian matrices; the Kinemtic Model functionality and related Task-kinematic functionality; the Inverse Kinematic problem.
5- The Kinematic Control Layer (KCL): Closed-loop Inverse-Kinematic based control (CLIK); Taks-Priority based CLIK (TP-CLIK); The resulting overall functional and algorithmic KCL architecture. The KCL as the outer loop drinving the underlying Dynamic Control Layer (DCL) inner loop, developed in another course
Notes of the course. since currently still in preparsation, will tehrefore be made available only for some of the above listed chapters; attending the lessons is consequently highly recommended.
- B. Siciliano, L. Scxiavicco, L. Villani, L. Oriolo: "Robotics: Modelling, Planning and Control"; Mc Graw-Hill, 2009
- W. Khalil, and E. Dombre, "Modeling, identification and control of robots", Hermes Penton, London, 2002.
- J. Angeles, Fundamentals of Robotic Mechanical Systems, Springer-Verlag, New York, 2002.
Office hours: Students reception can take place at the beginning or ending of any lecture. Additionally, specific appointments can be fixed by email with a few working days of advance.
All class schedules are posted on the EasyAcademy portal.
Oral colloquim, with the possibility of developing some simple exercises on manipulator control problems.
30% continuous assessment, 70% from end of semester examination.