Study-unit ROBOTICS
| Course name | Computer engineering and robotics |
|---|---|
| Study-unit Code | 70A00049 |
| Curriculum | Robotics |
| Lecturer | Francesco Ferrante |
| Lecturers |
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| Hours |
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| CFU | 9 |
| Course Regulation | Coorte 2022 |
| Supplied | 2022/23 |
| Learning activities | Caratterizzante |
| Area | Ingegneria informatica |
| Sector | ING-INF/04 |
| Type of study-unit | Obbligatorio (Required) |
| 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 |