92992 - Industrial Robotics M

Learning outcomes

The course provides advanced competencies in the field of industrial robotics. Besides a summary of the main concepts of kinematics and dynamics and of the basic control schemes, the main topics addressed in the course are advanced control schemes for position and force control of industrial manipulators (robust control, adaptive control, learning control, stiffness, impedance, hybrid position/force), trajectory planning for robots and automated machines. Students will learn in details modelling techniques, advanced control schemes, trajectory planning method not only for robots, but more in general for multi-degrees of freedom automatic machines.

Course contents

• Basic concepts of robotics (kinematic and dynamic models, basic control schemes).
• Advanced position control schemes: robust control, adaptive control, learning control, repetitive control.
• Force control of industrial manipulators: stiffness, impedance, hybrid position/force control.
• Trajectory planning for robots and automatic machines. 
  

Readings/Bibliography

Notes covering the whole course are available online (Virtuale).

Books:

• "Robotics: Modelling, Planning and Control", B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Springer Ed., 2009
• "Trajectory Planning for Automatic Machines and Robots", L. Biagiotti, C. Melchiorri, Springer Ed., 2008
• "Handbook on Robotics", B. Siciliano, H. Khatib Editors, Springer, 2016 

Teaching methods

The course consists of 60 hours of teaching (6 ECTS); Simulation tools (e.g. Matlab/Simulink) are introduced to solve problems of kinematics, dynamics and control.

Assessment methods

Final assessment consists in a written/oral exam. In case practical work has been assigned during the course, it will be verified during the exam.

Teaching tools

Notes of the teacher.
Laboratory setups.

Office hours

See the website of Claudio Melchiorri