Purpose
The course is focused on the study and the control of the industrial manipulators. More precisely, the kinematics, the dynamics and the control of robotic manipulators are deeply investigated. The trajectory planning problem is analysed and several planning schemes are proposed.
Program
Introduction
to industrial robotics.
Basic concepts on the mechanics and control of robotic
manipulators.
Reference
systems and transformations. Description
of joints positions and orientations. The rotational matrix.
Translational and rotational operators. Minimum-order orientation
notations: Fixed angles, Euler angles, angle-axis representation,
Euler parameters. Computational considerations.
Direct
kinematics.
Classification and description of robotic joints. Description of the
links position and orientation: the modified Denavit-Hartenberg
notation. The homogeneous transformation matrix. Joint space,
operational space and manipulator workspace.
Inverse
kinematics.
The solubility of the inverse kinematics problem. Geometric and
algebraic solutions.
Differential
kinematics and static forces.
Rigid bodies linear and angular velocities. The Jacobian matrix and
its properties. Manipulator static forces: the forward recursive
algorithm and the Jacobian approach.
Dynamics.
The inertia tensor matrix. Bodies center of mass. Inverse dynamics:
the Newton-Euler backward recursive formulation. Direct dynamics:
solution by means of simulation programs.
Control.
Individual-joint PID control with or without gravity compensation.
Dynamic inversion-based control techniques. Torque feedforward
control with feedback compensation.
Trajectory
generation.
Joint space trajectories. Point-to-point and multipoint trajectory
generation using cubic polynomials. Point-to-point and multipoint
trajectory generation using linear-quadratic functions. Operational
space trajectories. Kinematics singularities.
Laboratory
Trained lessons are carried out at the Didactic Laboratory. They aim to deepen the knowledge of the manipulators dynamics and control. The dynamics of a robotic manipulator and its controller are simulated by means of the Simulink program.
Examination method
The final test is divided
into two written parts: in the first part the student has to solve
the direct and the inverse kinematics of a manipulator, while in the
second part he has to answer to questions concerning the course
theoretical arguments.
Several intermediate tests are carried out
during the lessons period.
Suggested readings
C.
Guarino Lo Bianco, `` Cinematica dei manipolatori“, Pitagora
editrice, Bologna,Italia 2004.
L.Sciavicco e B.Siciliano,
``Robotica industriale: modellistica e controllo di manipolatori'',
McGraw-Hill Italia, 1995.
J.Craig, “Introduction to Robotics”,
second edition, Addison-Wesley,1989
Suggested propaedeutic courses
Controlli Automatici, Controlli Digitali
Language of instruction: Italiano
