ADVANCED MODELLING AND CONTROL OF ROBOTIC STRUCTURES

ADVANCED MODELLING AND CONTROL OF ROBOTIC STRUCTURES

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iten
Codice
86740
ANNO ACCADEMICO
2016/2017
CFU
4 cfu al 2° anno di 8774 ROBOTICS ENGINEERING (LM-32) GENOVA
SETTORE SCIENTIFICO DISCIPLINARE
ING-INF/04
LINGUA
Inglese
SEDE
GENOVA (ROBOTICS ENGINEERING)
periodo
1° Semestre

PRESENTAZIONE

OBIETTIVI E CONTENUTI

OBIETTIVI FORMATIVI

The course formerly generalizes the modelling techniques (Geometric, Kinematic and Dynamic) to robotic structures more complex than simpler cascade ones (e.g. branched, open/close and parallel connections) with extension to cases of presence of flexible links. Then it will be shown how the developed methods can be used for calibration, simulation, kinematic/dynamic/interaction control, parametric identification and adaptive control of such more general robotic structures.