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ROBOT DYNAMICS AND CONTROL

CODE 86738
ACADEMIC YEAR 2022/2023
CREDITS
  • 5 cfu during the 1st year of 10635 ROBOTICS ENGINEERING (LM-32) - GENOVA
  • SCIENTIFIC DISCIPLINARY SECTOR ING-INF/04
    LANGUAGE English
    TEACHING LOCATION
  • GENOVA
  • SEMESTER 2° Semester
    TEACHING MATERIALS AULAWEB

    OVERVIEW

    Robots are programmable machines capable of executing a wide range of operations according to their mechanical design.

    In order to execute proper tasks alone, in cooperation with other robots, or in collaboration with humans, robots' motion and interaction with objects and people must be properly controlled.

    In order to control the robot actions software must be designed and implemented ensuring the accomplishment of the programmed operations according to the planned task specifications (e.g. positioning accuracy, speed etc.) and safety conditions (e.g. maximum interaction forces etc.).

    Therefore, the robot control software must implement algorithms capable to compute the correct control commands for the robot actuators (joint motors)  using the feedback provided by robot sensors.

    The course will provide the fundamentals for the design and implementation of these algorithms. 

    AIMS AND CONTENT

    LEARNING OUTCOMES

    The course introduces the dynamic modelling of robot manipulators and the fundamentals of dynamic control of robots. These aspects are the key elements for the design of robot controllers and for the implementation of robot controlled operations involving interaction of the robot with objects (e.g. for their manipulation), the environoment (e.g. force control), humans (e.g. human robot collaborative tasks).

    AIMS AND LEARNING OUTCOMES

    At the end of the course, the student will be capable to design and implement a model-based control algorithm for a holonomic robot, for a set of basic robot tasks. 

    PREREQUISITES

    The student must be familiar with the following topics

    • Elementary Physics (mechanics)
    • Fundamentals of calculus and algebra
    • Fundamentals of programming 
    • Automatic control of dynamic systems
    • Robot kinematics
    • Real-time software programming

    The student is expected to have a basic level of understanding of the following topics

    • Computers and embedded computers
    • Mechanical design
    • Electronic design
    • Electrical machines (DC motors)

    TEACHING METHODS

    • Lectures
    • Assignments 

    Final grades will be based on assignments. Written+oral exams are also possible, but not encouraged since the outcome of the course is to give operational capabilities for the design of new robot systems.

    SYLLABUS/CONTENT

    • Introduction
    • Vector computation
    • Elements of kinematics and dynamics
    • Rigid body dynamics
    • Statics and dynamics of kinematic chains
    • Computational Robotics
    • The control problems
    • Dynamic robot control methods
    • Examples

    RECOMMENDED READING/BIBLIOGRAPHY

    • Lecture notes

    Text books: none suggested (since there are many very good around but using different notations)

    Suggested reading:

    • Fundamentals of Robotic Mechanical Systems. J. Angeles
    • Robotics. Modelling, planning, and control. B. Siciliano et al.

    TEACHERS AND EXAM BOARD

    Exam Board

    GIORGIO CANNATA (President)

    RICCARDO MINCIARDI (President Substitute)

    ENRICO SIMETTI (President Substitute)

    LESSONS

    Class schedule

    All class schedules are posted on the EasyAcademy portal.

    EXAMS

    Exam schedule

    Date Time Location Type Notes
    07/06/2023 09:00 GENOVA Robot Dynamics and Control – Prof. Cannata (Scritto + Orale)
    12/06/2023 09:00 GENOVA Last Extraordinary Date NONLINEAR CONTROL TECHNIQUES Prof. Moog
    03/07/2023 09:00 GENOVA Robot Dynamics and Control – Prof. Cannata (Scritto + Orale)
    07/09/2023 09:00 GENOVA Robot Dynamics and Control – Prof. Cannata (Scritto + Orale)