# Course Details for A.Y. 2014/2015

#### Name:

**Robotica Industriale / INDUSTRIAL ROBOTICS**

### Basic information

##### Credits:

*:* Laurea in Ingegneria dell'Informazione 9 CFU (b)

*:* Laurea Magistrale in Ingegneria Informatica e Automatica 9 CFU (b)

##### Degree(s):

Laurea Magistrale in Ingegneria Informatica e Automatica 1^{st} anno curriculum Informatica Elective

Laurea in Ingegneria dell'Informazione 3^{rd} anno curriculum Automatica Compulsory

##### Language:

English

### Course Objectives

The goal of this course is to introduce students to modeling, simulation and control techniques of industrial robots. On successful completion of this module, the students should be able to derive and implement kinematic and dynamic models of mechanical manipulators, to set-up trajectory planners, and to design control schemes.
More in general, the learning outcome of this course is the enhancing of the student's abilities in modeling, control design, and simulation through their application to the exciting field of industrial robots.

### Course Content

- Definition of industrial robots and of its subsystems (hardware e software). Classification of robots on the basis of their geometries and mechanical structures.
- Robot kinematics: Coordinate transformations between reference systems; rotation operators; orientation representations: orthonormal matrices, Euler Angles, axis and angle. Rigid body kinematics; linear and angular velocities; angular acceleration. Robot kinematics: prismatic and revolute joints; kinematic descriptions of chains of rigid bodies; the Denavit-Hartenberg notation; the inverse kinematics problem, closed form solutions; differential kinematics; algebraic and geometric Jacobians. Numerical methods for the computation of the inverse kinematics; kinematic singularities; kinematic redundancy. Kinematic simulation. Trajectory planning.
- Robot statics: the principle of virtual works; force and moments transformations; compliance matrix and its inverse (stiffness).
- Robot dynamics: Lagrange formulation; computation of the kinetic and potential energies for an open chain manipulator; the dynamic model of a robot and its properties; the Newton-Euler formulation and an efficient method for the computation of the inverse dynamics.
- Robot control: control architectures for industrial robots; PD and local PID control laws, PD with gravity compensation; model based controllers for trajectory tracking: pre-computed and computed torque.
- Elements of Matlab programming for the simulation of dynamic systems and graphical representation of objects. Elements of robot programming.

### Learning Outcomes (Dublin Descriptors)

On successful completion of this course, the student should

- The students will have knowledge and understanding of the methods of kinematic and dynamic modeling of robots, of trajectory planning and control design. Moreover, they will have knowledge of how the basic instructions of a robot programing language work.
- At the end of the module the student will be able to apply the learned modeling methods to specific robots, and to implement simulation programs.
- The students will be able to evaluate and choose the appropriate robot structure and control strategy for specific industrial tasks
- The student will be able to discuss and explain to both technical and non-technical people the feasibility of the use of robots in specific industrial tasks, and to illustrate advantages and disadvantages.
- The students will have the capacity of reading and understanding advanced texts on robotics

### Prerequisites and Learning Activities

The students must know the basic notions of calculus and mechanics.
Students should preferably have also some basic notions of systems dynamics and control.

### Assessment Methods and Criteria

An oral exam. Discretionary report on chosen subject.

### Textbooks

- Costanzo Manes, Handouts http://ing.univaq.it/manes/Didattica_Robotica_Industriale/Materiale_Didattico_Robotica.html
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- B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo,, Introduction to Robotics: Mechanics and Control , Springer Verlag. 2009.
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- J.J. Craig, Introduction to Robotics: Mechanics and Control , Prentice Hall. 2004.
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### Notes

- The course will be held in English foreign students are in the class

### Course page updates

This course page is available (with possible updates) also for the following academic years:

** To read the *** current * information on this course, if it is still available, go to the university course catalogue .
*Course information last updated on: 12 febbraio 2014, 11:28*