Salta al contenuto principale della pagina

ROBOT DYNAMICS AND CONTROL

CODICE 86738
ANNO ACCADEMICO 2022/2023
CFU
  • 5 cfu al 1° anno di 10635 ROBOTICS ENGINEERING (LM-32) - GENOVA
  • SETTORE SCIENTIFICO DISCIPLINARE ING-INF/04
    LINGUA Inglese
    SEDE
  • GENOVA
  • PERIODO 2° Semestre
    MATERIALE DIDATTICO AULAWEB

    PRESENTAZIONE

    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. 

    NOTE: the course will be taught in English, therefore it would be stupid to provide a description in Italian!

    OBIETTIVI E CONTENUTI

    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.

    DOCENTI E COMMISSIONI

    Commissione d'esame

    GIORGIO CANNATA (Presidente)

    RICCARDO MINCIARDI

    ENRICO SIMETTI (Presidente Supplente)

    LEZIONI

    Orari delle lezioni

    L'orario di tutti gli insegnamenti è consultabile su EasyAcademy.

    ESAMI

    MODALITA' D'ESAME

    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.

    MODALITA' DI ACCERTAMENTO

    Correction of the assignments or of the written exams

    Calendario appelli

    Data Ora Luogo Tipologia Note
    09/01/2023 09:00 GENOVA Robot Dynamics and Control – Prof. Cannata (Scritto + Orale)
    30/01/2023 09:00 GENOVA Robot Dynamics and Control – Prof. Cannata (Scritto + Orale)
    07/06/2023 09:00 GENOVA Robot Dynamics and Control – Prof. Cannata (Scritto + Orale)
    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)