Unit ROBOTICS
- Course
- Electronic engineering for the internet-of-things
- Study-unit Code
- 70A00049
- Curriculum
- Industrial iot
- Teacher
- Francesco Ferrante
- Teachers
-
- Francesco Ferrante
- Francesco Crocetti (Codocenza)
- Hours
- 51 ore - Francesco Ferrante
- 21 ore (Codocenza) - Francesco Crocetti
- CFU
- 9
- Course Regulation
- Coorte 2022
- Offered
- 2022/23
- Learning activities
- Affine/integrativa
- Area
- Attività formative affini o integrative
- Academic discipline
- ING-INF/04
- Type of study-unit
- Opzionale (Optional)
- Type of learning activities
- Attività formativa monodisciplinare
- Language of instruction
- ITALIAN
- Contents
- Kinematics, Statics, Dynamics and Control of robotic manipulators.
- Reference texts
- Robotica. Modellistica, pianificazione e controllo. Terza edizione, Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo, McGraw-Hill, ISBN: 9788838663222
- Educational objectives
- Knowledge of methods to mathematically describe the pose of a rigid body.
Knowledge of the kinematic model and the dynamic model of a robotic manipulator.
Knowledge of techniques for trajectory planning.
Knowledge of the main control schemes for robotic manipulators.
Ability to use some of the main software libraries available for simulating robotic manipulators (eg: Robotics Toolbox). - Prerequisites
- In order to understand the contents presented in the course, and achieve the learning objectives, it is useful to have a good knowledge of Linear Algebra, Analysis and Physics (Mechanics).
- Teaching methods
- Teaching is organized as follows: - frontal lectures in classroom; - seminar lectures; - guided exercises. Teaching support tools: whiteboard, PC, projector.
- Other information
- Second Semester (more information at: https://ing.unipg.it/didattica/studiare-nei-nostri-corsi/orario-lezioni)
- Learning verification modality
- The exam is oral. It begins with the presentation of one or more small projects prepared according to the methods described on the Unistudium page of the course (https://unistudium.unipg.it/), and continues with questions on the entire course program.
- Extended program
- Introduction to robotics
Mechanical structure of manipulators, actuators, sensors
Position and orientation of a rigid body
Direct kinematics, inverse kinematics
Differential kinematics
Statics
Trajectory planning
Dynamics
Control - Motion control, Force control