Politecnico di Torino
Politecnico di Torino
Politecnico di Torino
Academic Year 2015/16
Master of science-level of the Bologna process in Computer Engineering - Torino
Teacher Status SSD Les Ex Lab Years teaching
Indri Marina ORARIO RICEVIMENTO AC ING-INF/04 37.5 13 7.5 8
SSD CFU Activities Area context
ING-INF/04 6 C - Affini o integrative Attività formative affini o integrative
01PDC; 01PDX; 01OUV; 01NNE
Subject fundamentals
The course is taught in Italian.
The purpose of this course is to provide basics of modelling, design, planning, and control of industrial robotic systems, as well as an introduction to the fundamental characteristics and concepts of mobile service robots. The most common architectures for robot control are presented. Mobile robots are treated considering only locomotion structures, planning and autonomy issues.
Expected learning outcomes
The student shall acquire the following knowledge and develop the following abilities:
- Knowledge of types of robots, according to the configuration of the arm kinematic chain, and of various types of wrists.
- Knowledge of tridimensional geometry issues, with reference to rigid roto-translations; different ways to represent the orientation/attitude of a rigid body; capacity to solve simple examples of roto-translations.
- Knowledge and ability to analyze a kinematic chain, setting the body reference systems, and write the direct and inverse position kinematic equations.
- Knowledge and ability to write the direct and inverse velocity kinematic equations; analytical and geometrical Jacobian; kineto-static relations; ability to develop applications of these concept to complex kinematic chains.
- Knowledge and ability to analyze and write the dynamic equations of a robot; physical interpretation of the terms of such equations; structural characteristics for the control; ability to develop simple examples of these models.
- Knowledge of the main approaches to motion planning for manipulators in the joint space and in the operational space.
- Knowledge and ability to write independent joint and inverse dynamics control schemes; capability to understand pro’s and con’s of such control schemes; basic knowledge of advanced control schemes.
- Knowledge of the present trends in mobile and service robotics and ability to appropriately set such problems.
- Knowledge and ability to define the main locomotion structures, in particular, wheeled robots.
- Knowledge of the main approaches for motion planning of mobile robots and strategies for their autonomous motion (localization, mapping).
Prerequisites / Assumed knowledge
Basic knowledge of Physics (Mechanics and Electromagnetism in particular), linear algebra and matrix computation (matrix properties and operations, determinant, trace, eigenvalues), fundamentals of automatic systems (state variables, inputs, outputs, transfer functions) and control (simple control schemes, proportional, derivative and integrative compensators).
Course topics and relative devoted time.
- Definitions, kinematic chains, degrees of freedom, redundancy, types of robotic arms and wrists; 3D geometric transformations, rotations and translations, representations of the orientation of a rigid body (12 hours)
- Denavit-Hartenberg convention, position and differential kinematics, Jacobians, statics and kineto-static relations (10 hours)
- Robot dynamic equations and their properties; physical models of the robotic motor-gear-link chain (6 hours)
- Motion planning of a manipulator (6 hours)
- Control schemes for rigid manipulators, linear and non linear control, interaction control and advanced control schemes; sensors for robotics (16 hours)
- Mobile robotics, structures, locomotion, on-board intelligence and autonomy (10 hours)
Delivery modes
The classroom exercises deals with applicative examples, related to the topics analysed in the lessons.
The laboratory activities (about 7-8 hours) include simulations of robotic arms, and experimental tests by using the industrial manipulator available in the DAUIN labs or small manipulators for education purposes. Further works based on the use of a professional simulator of industrial robots can be proposed.
If possible, a visit of the firm of a robotics company is planned within the course.
Texts, readings, handouts and other learning resources
B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, "Robotics, Modelling, Planning and Control", Springer, 2009 (in English, or its Italian version, ed. by McGraw-Hill, 2008)
B. Bona, "Modellistica dei Robot Industriali", CELID, Torino, 2002 (in Italian)
All the lessons’ handouts (slides and written exercises) are available from the web site.
Assessment and grading criteria
Two hours written test (no oral exam), constituted by a series of questions (in part with multiple given answers, in part with open answer) relative to the course topics.
The exam mark is computed as the weighted sum of the scores assigned to the various questions (specified during the exam). In case of a question with multiple given answers, a penalty of 25% of its score is applied for any wrong choice.

Programma definitivo per l'A.A.2015/16

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