italian version

Aims :

The course presents the robot as an example of a complex mechatronic machine, whose main characteristics are outlined. The tools for the development of kinematic and dynamic analysis of space mechanisms will be provided.

Topics :

INTRODUCTION: Common architectures of robots and robotic systems. Drives and transmissions. Sensing systems.

KINEMATIC AND STATIC ANALYSIS: Position and velocity analysis (DKP and IKP). Singularities. Static analysis and stiffness of kinematic chain.

DYNAMIC ANALYSIS: Direct and inverse analysis: Newton-Euler, Lagrange, PVW approaches.

CONTROL: Motion and task planning. Control algorithms (linear and model-based). Position and interaction control.

Textbooks :

L.Sciavicco, B.Siciliano, "Robotica industriale", McGraw-Hill. 1997.
G. Legnani, "Robotica industriale", Casa Editrice Ambrosiana, 2003.
J.J. Craig, "Introduction to Robotics: Mechanics & Control", Pearson Prentice-Hall. 3rd Ed., 2005.
H.Asada, J.-J.E.Slotine, "Robot analysis and control", John Wiley & Sons. 1986.
L.-W. Tsai. Robot Analysis, "The Mechanics of Serial and Parallel Manipulators", John Wiley & Sons. 1999.

Exam :

The final marks are obtained through a weighted sum of the evaluation of a sample project and an oral examination.

Tutorial Session :

wed 17:30-18:30, thur 9:00-10:00