F LAR - DEIS Claudio Melchiorri - Foundations of Industrial Robotics

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> Home > People > Claudio Melchiorri > Foundation of Industrial Robotics

 


 

 

 

 

Goals

Main goal of this course is to give the basic competencies and knowledge in order to use and design (parts of) robotic manipulators for industrial automation tasks.  

Topics

  • Robotics and Industrial Automation; The "market" of industrial robots;
  • Structure and components of robots; Applications of industrial robots;  
  • Kinematics. Homogeneous Tranbsformations. Direct and Invers kinematic problems. Work-Space.  
  • Differential kinematics and Statics for robots.  
  • Robot dynamics. Euler-Lagrangian formulation.  
  • Trajectory planning.  
  • Robot control. Position control in joint- and work-space. Centralized and decentralized control schemes.  
  • Robot programming. 

Suggested prerequisites

  1. Automatic control
  2. Digital control systems
  3. Control system technologies

 

Teaching material

  1. Lecture slides and notes.
  2. B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, ROBOTICA: MODELLISTICA, PIANIFICAZIONE E CONTROLLO, McGraw-Hill Italia, 2008, McGraw-Hill Italia, 2008. 
  3. B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, ROBOTICS: MODELLING PLANNING AND CONTROL, Springer-Verlag, 2009.
  4. M.W. Spong, M. Vidyasagar, ROBOT DYNAMICS AND CONTROL, John Wiley \& Sons, Inc, 1989. 
  5. M.P. Groover, M. Weiss, R.N. Nagel, N.G. Odrey, INDUSTRIAL ROBOTICS: Technology, Programming, and Applications, McGraw-Hill, 1986. 
  6. C. Melchiorri, TRAIETTORIE PER AZIONAMENTI ELETTRICI, Esculapio Ed., Bologna, 2000.
  7. L. Biagiotti, C. Melchiorri, TRAJECTORY PLANNING FOR AUTOMATIC MACHINES AND ROBOTS, Springer, 2008.

 

Exams

  • Oral exams 

Lecture slides

01 - Course introduction (24/02/2014)

02 - Robotic applications - 1 (26/02/2014)

02a - Robotic applications - 2 (26/02/2014)

03 - Properties and motion description of rigid bodies (14/03/2012)

04 - Kinematic model of industrial robots (07/03/2011)

05 - Dynamic model of industrial robots (18/04/2011)

06 - Control of robots (09/05/2011)

Additional material:

07 - Trajectory planning - 1 (23/05/2011)

07 - Trajectory planning - 2 (30/05/2011)

07 - Trajectory planning - 3 (06/06/2011)

07 - Trajectory planning - 4 (30/05/2011)

0A - Appendix A (xx/03/2011)

 

 

Results of written exams:

  • June 1st, 2016
  • Additional material will be made available during the course.

    For practical activities

     

     

     

     

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