The course focuses on the kinematic and dynamic modelling, the control and the motion planning of industrial manipulators and mobile platforms (autonomous vehicles). At the end of the course the student will be able to partecipate to projects involving the design and the use of robots.
scheda docente
materiale didattico
- Direct kinematics
- Differential kinematics
- Inverse kinematics
- Trajectory planning
- Statics and manipulability ellipsoids
- Overview of the dynamic model
- Motion control schemes
- Overview of force control schemes
Mobile robotics:
- Basic Topological Concepts (Chapter 4.1, LaValle Planning Algorithms)
- 2D Rigid Bodies: SE(2) (Chapter 4.2.1, LaValle Planning Algorithms)
- Vector Fields and Integral Curves (Chapter 8.3, LaValle Planning Algorithms)
- Differential Models (Chapter 13.1, LaValle Planning Algorithms)
- Control Affine Systems (Chapter 15.4, LaValle Planning Algorithms)
- Motion Control (Chapter 11.6, Siciliano et al. Robotics)
- Multi-Robot Swarming (Chapter 3, Gazi & Passino, Swarm Stability and Optimization)
- Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press, USA.
- Veysel Gazi and Kevin Passino. 2011. Swarm Stability and Optimization. Springer Publishing Company, Incorporated.
Programma
Manipulators (Chapters of Siciliano et al. Robotics):- Direct kinematics
- Differential kinematics
- Inverse kinematics
- Trajectory planning
- Statics and manipulability ellipsoids
- Overview of the dynamic model
- Motion control schemes
- Overview of force control schemes
Mobile robotics:
- Basic Topological Concepts (Chapter 4.1, LaValle Planning Algorithms)
- 2D Rigid Bodies: SE(2) (Chapter 4.2.1, LaValle Planning Algorithms)
- Vector Fields and Integral Curves (Chapter 8.3, LaValle Planning Algorithms)
- Differential Models (Chapter 13.1, LaValle Planning Algorithms)
- Control Affine Systems (Chapter 15.4, LaValle Planning Algorithms)
- Motion Control (Chapter 11.6, Siciliano et al. Robotics)
- Multi-Robot Swarming (Chapter 3, Gazi & Passino, Swarm Stability and Optimization)
Testi Adottati
- Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. 2009. Robotics: Modelling, Planning and Control. Springer Publishing Company, Incorporated.- Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press, USA.
- Veysel Gazi and Kevin Passino. 2011. Swarm Stability and Optimization. Springer Publishing Company, Incorporated.
Bibliografia Di Riferimento
NoneModalità Erogazione
during COVID-19 emergency the class will be held according the current regulationsModalità Frequenza
Not ApplicableModalità Valutazione
Oral Exam and Project Evaluation
scheda docente
materiale didattico
- Direct kinematics
- Differential kinematics
- Inverse kinematics
- Trajectory planning
- Statics and manipulability ellipsoids
- Overview of the dynamic model
- Motion control schemes
- Overview of force control schemes
Mobile robotics:
- Basic Topological Concepts (Chapter 4.1, LaValle Planning Algorithms)
- 2D Rigid Bodies: SE(2) (Chapter 4.2.1, LaValle Planning Algorithms)
- Vector Fields and Integral Curves (Chapter 8.3, LaValle Planning Algorithms)
- Differential Models (Chapter 13.1, LaValle Planning Algorithms)
- Control Affine Systems (Chapter 15.4, LaValle Planning Algorithms)
- Motion Control (Chapter 11.6, Siciliano et al. Robotics)
- Multi-Robot Swarming (Chapter 3, Gazi & Passino, Swarm Stability and Optimization)
- Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press, USA.
- Veysel Gazi and Kevin Passino. 2011. Swarm Stability and Optimization. Springer Publishing Company, Incorporated.
Programma
Manipulators (Chapters of Siciliano et al. Robotics):- Direct kinematics
- Differential kinematics
- Inverse kinematics
- Trajectory planning
- Statics and manipulability ellipsoids
- Overview of the dynamic model
- Motion control schemes
- Overview of force control schemes
Mobile robotics:
- Basic Topological Concepts (Chapter 4.1, LaValle Planning Algorithms)
- 2D Rigid Bodies: SE(2) (Chapter 4.2.1, LaValle Planning Algorithms)
- Vector Fields and Integral Curves (Chapter 8.3, LaValle Planning Algorithms)
- Differential Models (Chapter 13.1, LaValle Planning Algorithms)
- Control Affine Systems (Chapter 15.4, LaValle Planning Algorithms)
- Motion Control (Chapter 11.6, Siciliano et al. Robotics)
- Multi-Robot Swarming (Chapter 3, Gazi & Passino, Swarm Stability and Optimization)
Testi Adottati
- Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. 2009. Robotics: Modelling, Planning and Control. Springer Publishing Company, Incorporated.- Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press, USA.
- Veysel Gazi and Kevin Passino. 2011. Swarm Stability and Optimization. Springer Publishing Company, Incorporated.
Bibliografia Di Riferimento
NoneModalità Erogazione
During the COVID-19 emergency period, the lectures will follow the current regulations.Modalità Frequenza
Attendance is strongly recommended.Modalità Valutazione
The exam consists of a project carried out through homeworks during the course and an oral exam to discuss topics in manipulation and mobile robotics.