OBIETTIVI FORMATIVI

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).

OBIETTIVI FORMATIVI (DETTAGLIO) E RISULTATI DI APPRENDIMENTO

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. 

PREREQUISITI

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)

MODALITA' DIDATTICHE

• 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.

PROGRAMMA/CONTENUTO

• 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

TESTI/BIBLIOGRAFIA

• 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.