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

ENRICO SIMETTI (President Substitute)

LESSONS

LESSONS START

https://corsi.unige.it/10635/p/studenti-orario

Class schedule

The timetable for this course is available here: Portale EasyAcademy

EXAMS

Exam schedule