ROBOTICA

Ingegneria Informatica ROBOTICA

0622700043
DIPARTIMENTO DI INGEGNERIA DELL'INFORMAZIONE ED ELETTRICA E MATEMATICA APPLICATA
EQF7
COMPUTER ENGINEERING
2018/2019



OBBLIGATORIO
YEAR OF COURSE 2
YEAR OF DIDACTIC SYSTEM 2017
PRIMO SEMESTRE
CFUHOURSACTIVITY
432LESSONS
324EXERCISES
216LAB
Objectives
THE COURSE HAS THE AIM OF PRESENTING THE BASICS OF MODELLING AND CONTROL OF ROBOTS.

KNOWLEDGE AND UNDERSTANDING
MODELING OF INDUSTRIAL ROBOTS. CONTROL OF INDUSTRIAL ROBOTS.

APPLIED KNOWLEDGE AND UNDERSTANDING
ABILITY TO MODEL THE KINEMATICS OF INDUSTRIAL ROBOTS. ABILITY TO DESIGN CONTROL SYSTEMS FOR INDUSTRIAL ROBOTS BY MEANS OF LINEAR AND-NON-LINEAR SYSTEM CONTROL TECHNIQUES.
Prerequisites
FOR THE SUCCESSFUL ACHIEVEMENT OF THE OBJECTIVES, BASIC KNOWLEDGE OF COMPUTER SCIENCE AND AUTOMATIC CONTROL ARE REQUIRED.
Contents
INDUSTRIAL ROBOTS: TYPICAL COMPONENTS AND STRUCTURES OF INDUSTRIAL MANIPULATORS. (HOURS: LESSONS/EXERCISES/LABORATORY 2/-/-)

KINEMATICS: ROTATION MATRIX. EULER ANGLES. HOMOGENEOUS TRANSFORMATION MATRIX. DIRECT KINEMATICS. DIRECT KINEMATICS OF STANDARD MANIPULATORS. INVERSE KINEMATICS. DIFFERENTIAL KINEMATICS. ANALYTIC AND GEOMETRIC JACOBIAN MATRIX. REDUNDANCY ANALYSIS. INVERSE AND TRANSPOSE JACOBIAN BASED INVERSE KINEMATICS ALGORITHMS. STATICS. (HOURS 10/6/-)

TRAJECTORY PLANNING. (HOURS 6/4/-)

DYNAMICS: DYNAMIC MODEL OF A MANIPULATOR AND ITS PROPERTIES. (HOURS 4/-/-)

SENSORS AND ACTUATORS (HOURS 4/2/-)

CONTROL: JOINT SPACE CONTROL. INDEPENDENT JOINT CONTROL. COMPUTED TORQUE FEED-FORWARD CONTROL. CENTRALIZED CONTROL. PD CONTROL WITH GRAVITY COMPENSATION. INVERSE DYNAMICS JOINT CONTROL. (HOURS 12/6/-)

CONTROL UNITS. HARDWARE AND SOFTWARE ARCHITECTURE. PROGRAMMING LANGUAGES FOR INDUSTRIAL ROBOTS. (4/-/-)

INTRODUCTION TO MOBILE ROBOTICS (6/2/-)

LABORATORY: PROGRAMMING AND CONTROL OF A STANDARD ROBOT. (HOURS -/-/4)

TOTAL HOURS 48/20/4
Teaching Methods
THE COURSE INCLUDES THEORETICAL LESSONS, CLASSROOM EXERCISES AND LABORATORY ACTIVITIES. DURING CLASSROOM EXERCISES, STUDENTS ARE INVITED TO SOLVE ASSIGNED EXERCISES. CONCERNING TO ROBOTICS, LABORATORY ACTIVITIES ON INDUSTRIAL MANIPULATORS ARE SCHEDULED.

IN ORDER TO PARTICIPATE TO THE FINAL ASSESSMENT AND TO GAIN THE CREDITS CORRESPONDING TO THE COURSE, THE STUDENT MUST HAVE ATTENDED AT LEAST 70% OF THE HOURS OF ASSISTED TEACHING ACTIVITIES.
Verification of learning
THE FINAL EXAM IS AIMED AT EVALUATING: THE KNOWLEDGE AND UNDERSTANDING OF THE CONCEPTS PRESENTED DURING THE COURSE, THE ABILITY TO APPLY THAT KNOWLEDGE TO SOLVE PROBLEMS OF MODELLING AND CONTROL OF INDUSTRIAL ROBOTS, THE PERSONAL JUDGEMENT, THE COMMUNICATION SKILLS AND THE LEARNING ABILITIES.

THE FINAL EXAM CONSISTS OF A WRITTEN TEST, WHOSE PURPOSE IS TO ASSESS THE ABILITY TO APPLY THE ACQUIRED KNOWLEDGE, THE QUALITY OF EXPOSITORY WRITING, THEIR PERSONAL JUDGMENT, AND AN ORAL INTERVIEW, THE PURPOSE OF WHICH IS TO ASSESS THE ACQUIRED KNOWLEDGE AND COMPREHENSION SKILLS, THE LEARNING ABILITIES, AND THE ORAL EXPOSITION.

THE WRITTEN TEST WILL BE EVALUATED BASED ON THE CORRECTNESS OF THE APPROACH AND RESULTS USING THE FOLLOWING SCALE: EXCELLENT, GOOD, FAIR, MORE THAN SUFFICIENT, SUFFICIENT, INSUFFICIENT. THE INSUFFICIENT SCORE IMPLIES THE WRITTEN TEXT REPETITION.

THE EVALUATION OF THE ORAL EXAM WILL TAKE INTO ACCOUNT THE KNOWLEDGE DEMONSTRATED BY THE STUDENT, THE LEARNING SKILLS, THE QUALITY OF THE EXPOSITION.

CONCERNING THE FINAL SCORE, EXPRESSED OUT OF THIRTY, THE WRITTEN TEST CONTRIBUTES FOR 40% WHILE THE ORAL INTERVIEW FOR 60%. FULL MARKS WITH DISTINCTION MAY BE GIVEN TO STUDENTS WHO DEMONSTRATE THAT THEY CAN APPLY THE ACQUIRED KNOWLEDGE WITH CONSIDERABLE AUTONOMY.
Texts
B. SICILIANO, L. SCIAVICCO, L. VILLANI, G. ORIOLO, ROBOTICS - MODELLING, PLANNING AND CONTROL, SPRINGER, LONDON, 2009, ISBN 978-1-84628-641-4
More Information
FRONTAL LESSONS ARE PROVIDED. ITALIAN IS THE OFFICIAL LANGUAGE.
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