Lecturer: Antonella Ferrara  

Course name: Robot control
Course code: 504463
Degree course: Computer Engeneering, Ingegneria Elettrica
Disciplinary field of science: ING-INF/04
University credits: ECTS 6
Course website: n.d.

Specific course objectives

The course presents the basic methodological tools for modeling and control of industrial robots.

Course programme

Modeling of robotic systems:
Structure of robotic manipulators. Classification. The joint space and the operational space. Direct kinematics. Inverse kinematics. Differential kinematics. Euler angles. Relationship between geometrical and analytical Jacobian. Dynamic modeling.

Robot control:
Motion control in the joint space (decentralized and centralized) and in the operational space (inverse dynamics). Interaction control: force control, hybrid force/position control.

Course entry requirements

Knowledge acquired in previous courses in Automatic Control and Mathematical Methods in Engineering.

Course structure and teaching

Lectures (hours/year in lecture theatre): 45
Practical class (hours/year in lecture theatre): 0
Practicals / Workshops (hours/year in lecture theatre): 0

Suggested reading materials

Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo. Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing). Springer.

Testing and exams

Closed-book, closed-notes, 2 hour written exam consisting of 3 sections assessing knwoledge and understanding of the course topics and ability to apply them in a problem solving context. Each section will be independently graded. Threshold to pass is 18/30 an maximum mark is 30/30 cum laude. The final mark is obtained as the weighted mean of marks given to each section of the written exam. Example of a written exam: http://sisdin.unipv.it/labsisdin/teaching/courses/robcon/files/Robot_Control_Exam_Example.pdf