PRESENTAZIONE

OBIETTIVI E CONTENUTI

OBIETTIVI FORMATIVI

The course formerly generalizes the modelling techniques (Geometric, Kinematic and Dynamic) to robotic structures more complex than simpler cascade ones (e.g. branched, open/close and parallel connections) with extension to cases of presence of flexible links. Then it will be shown how the developed methods can be used for calibration, simulation, kinematic/dynamic/interaction control, parametric identification and adaptive control of such more general robotic structures.