OVERVIEW

The course presents he fundamentals of the modeling and control techniques, for serial manipulators. Main topics are geometric and kinematic modeling, kinematic based control in the operational space and its functional and algortitmic architetures  (KCL: Kinematic Control Layer).

Dynamic modelling and joint-space control techniques, and their functional and algorithmic architecture will be only introduced, as the lower contol layer (DCL: Dynamic Control Layer)

Hints on integration of KCl (upper layer) and DCL (lower layer) will then follows.

LEARNING OUTCOMES

This course presents the fundamentals of the modeling and control techniques of serial manipulators. Topics include robot architectures, geometric modeling, kinematic modeling, dynamic modeling and its applications, as well as the classical PID controller and computed torque controller.

AIMS AND LEARNING OUTCOMES

Aims: Provide to the student the fundamentals about modelling and control of tobotic manipulators; with aparticular emphasis given to the structure of functional and agorithmic control architecture arising as the outcome of the illustrated modelling meìhodologies.

learning oucomes: capability of modelling the geemetry and the kinematics of a manipuatorr; and only partially its dysmamic.  capabilitybof orgsaniziong the overall functional and algoritmic control architecture of a manipulator.  Capability of structuring the achievenìment of assigned specific motion control objective, based on the developed overall functional and algoritmic control architecure.   

PREREQUISITES

Fundamentals (even if will be reviewed) of Euclidean geometry, kinematics and Newtonian  dyanamic.

Fundamental of System Theory and/or Classical Automatic Control theory

Teaching methods

Due to the Covid 19 pandemia perduring situation, lessons will be given on-line via the Microsoft platform TEAM.

Each lesson will be recorded and let available to the audienc

SYLLABUS/CONTENT

The course is organized into six chapters:

1- General geometric fundamental and algorithmic tools

2- Robot Geometry: the Geometric Model funtionality and related Geometric Computing functinality 

3- General Kinematic fundamental and algorithmic tools

4- Robot kinematics: Basic Jacobian matrices; Task Jacobian matrices; the Kinemtic Model functionality and related Task-kinematic funcionality; the Inverse Kinematic problem.

5- The Kinematic Control Layer (KCL): Closed-loopn Inverse-Kinematic based control (CLICK); Taks-Priority based CLICK (TP-CLIK); The overall functional and algorithmic KCL architecture.

6- The Dynamic Control Layer (DCL):  Hints on Robit Dynamic; The Computed-torque joint control methodology and its approximation  via PID joint controllers; the DCL functional and algoritmic architecture; the overall roboit control alrchitecture via KCL, DCL hierarchical integration

Notes of the course, currently still in preparstion, will be available only for some of the above listed chapters; assisting to the lessons is thereforebhighly recommended.

RECOMMENDED READING/BIBLIOGRAPHY

- B. Siciliano, L. Scxiavicco, L. Villani, L. Oriolo: "Robotics: Modelling, Planning and Control"; Mc Graw-Hill, 2009

- W. Khalil, and E. Dombre, "Modeling, identification and control of robots", Hermes Penton, London, 2002.

Further readings
- J. Angeles, Fundamentals of Robotic Mechanical Systems, Springer-Verlag, New York, 2002.

Exam Board

GIUSEPPE CASALINO (President)

MICHELE AICARDI

ENRICO SIMETTI (President Substitute)

Teaching methods

Due to the Covid 19 pandemia perduring situation, lessons will be given on-line via the Microsoft platform TEAM.

Each lesson will be recorded and let available to the audienc

LESSONS START

September, 21-th, 2020 (first semester)

Exam description

Interactive TEAM platform-bsae oral colloquium, includin the possible request of formalizing/ solving some simple robot modelling and/or robot exercises

Assessment methods

30% continuous assessment, 70% from end of semester examination.

Exam schedule