


Politecnico di Torino  
Academic Year 2017/18  
01PEEQW Robotics 

Master of sciencelevel of the Bologna process in Mechatronic Engineering  Torino 





Subject fundamentals
The course is taught in English.
The purpose of this course is to provide concepts and detailed description of the fundamental characteristics of robots, both industrial and mobile ones. This implies a presentation of basic concepts of modelling, design, pathplanning, and control of robotic systems. After a detailed presentation of open kinematic chains and their mathematical representation, the most common architectures for robot control will be presented. Mobile robots will be treated considering locomotion structures, kinematic models, sensors, planning and supervision/autonomy architectures. The topics treated in this course represent the basic elements and the relevant results from geometry, kinematics, statics, dynamics, and control related to industrial and service (i.e., wheeled mobile) robots. 
Expected learning outcomes
The student acquires the following knowledge about
 Various types of robots, according to the configuration of the arm kinematic chain; various types of wrists.  What is an open or closed kinematic chain, a body reference systems, the direct and inverse position kinematic equations  What is the direct and inverse velocity kinematic equations; analytical and geometrical Jacobian; kinetostatic relations;  How to analyze and write the dynamic model equations of a robot, using the Lagrange approach; physical interpretation of these equations; structural characteristics for their control; ability to develop simple examples of these models  The independent joint control and the inverse dynamics control architecture; basic knowledge of adaptive control schemes  The present trends in mobile and service robotics  The main locomotion structures, in particular, wheeled robots  The main control architectures of a mobile robot: reflexive and modelbased approaches  The main services present onboard a mobile robot: planning, localization, mapping and motion control  The principal sensors onboard mobile robots; The student develops the following abilities  Analyze a kinematic chain, setting the body reference systems, and write the direct and inverse position kinematic equations  Write the direct and inverse velocity kinematic equations of a given open chain structure; analytical and geometrical Jacobian; kinetostatic relations; ability to develop applications of these concept to complex kinematic chains  Develop applications of these concept to complex kinematic chains  Model in mathematical terms (Lagrange equations) simple examples of robotic structures and understand the physical meaning of the involved structure and parameters  Write the independent joint and the inverse dynamics control architecture;  Design of adaptive control schemes  Understand pro's and con's of such control schemes  Understand trends in mobile and service robotics in the appropriate framework  Make a preliminary choice of onboard sensors, based on their characteristics and technical specifications 
Prerequisites / Assumed knowledge
The course requires the knowledge of the basic elements of geometry in Euclidean tridimensional space, the ability to use rigid rototranslations; knowledge of the different ways to represent the orientation/attitude of a rigid body; capacity to solve simple examples of rototranslations. Elements of automatic control (simple PID control networks) are not mandatory, but beneficial.

Contents
ボ Brief introduction to the history of robotics with principal milestones (1 hours)
ボ Definitions, kinematic chains, degrees of freedom, redundency, robotics arms classification, robotic wrists classification (4 hours) ボ Review of geometrical tranformations, Euler and RPY angles, quaternions (4 hours) ボ DenavithHartenberg conventions, position and velocity (differential) kinematics, analytical and geometrical Jacobians (12 hours) ボ Dinamics, NewtonEuler equations, Lagrange equations, structural properties of the dynamic equations (10 hours) ボ Statics, kinetostatic duality relations (4 hours) ボ Physical models of the motorgearboxarm chain, state variables, nonlinear state variable equations, passivity (10 hours) ボ Continuous and discrete motion planning; three methods for attitude planning; practical issues, motor constraints, micromacro interpolation (10 hours) ボ Control schemes for rigid robots: independent joint control and computed torque control, adaptive control, robust control (12 hours) ボ Mobile robotics, locomotion structures, differential drive rover kinematics, unicycle and bycicle kinematics; sensors; planning; control and supervision; reactive vs model bsed control; basics of vision systems; concluding remarks (12 hours) recap and exam simulation (1 hours) 
Delivery modes
Practical exercises in class and in Laboratory will be devoted to model a set of simple robotic structure, using Matlab, Simulink and SimMechanics software packages.

Texts, readings, handouts and other learning resources
B. Bona, ｡ｧModellistica dei manipolatoriindustriali｡ｨ, CELID, 2002 (in Italian)
B. Bona, ｡ｧMetodi di Controllo per Manipolatori Industriali｡ｨ, notes in Italian downloadable from the course web page . B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, ｡ｧRobotics: modelling, planning and control｡ｨ Springer, 2009 Slides, notes and other written materials are downloadable from the course web page 
Assessment and grading criteria
Written examination consists of two parts;
part 1) closed book multiple response questions (40% of the mark) part 2) closed book questions on theoretical topics (40% of the mark). Part 2 can be replaced with a report on Laboratory experience or other projects, both practical or theoretical, discussed and agreed with the teacher during the course 
