Portale di Ateneo - En.Unibs.it

*Part 1 - Servosystems

-Characteristics and main components of a servo system

Kinematic structures of machines or manipulators with several degrees of freedom. Serial and parallel structures.

-Kinematics

Direct and inverse kinematics. Degrees of freedom, jacobian, singularities. Methods of analysis of serial and parallel kinematic structures.
Redundant degrees of freedom structures: optimal solution.

-Dynamics

Kinetostatics. Direct and inverse dynamics. Methods of analysis of serial and parallel kinematic structures.

-Control algorithms

Joints and work spaces feedback control techniques: position, force and hybrid control algorithms.

-Motion design

Motion laws. Motion planning and trajectories generation within joint and work spaces.
Point to point movement, movement along a predefined trajectory and minimum time of motion.

*Part 2 - Robotics

-Origins, history and generalities on robots

Origins and state of art on robotics
Robots classification. Aims and issues of industrial robotics.

-Characteristics and structures of robots

Base configuration of a robot: manipulator, controller, actuators, sensors and transducers.
General characteristics of industrial robots.

-Analysis of manipulators.

General characteristics of industrial robots.

a) General methodologies recalls on direct and inverse kinematics and dynamics of systems with several degrees of freedom, jacobian, singularities, applications to manipulators.

b) Matrix methods for the analysis of 3D systems. Position and orientation of a free body in space. Frames of reference. Homogeneous transformations. Rototranslations. Position, velocity and acceleration matrices. Inertia, actions and linear moment matrices. Mathematical formulation of kinematic and dynamic relations. Analytical and numerical methods for solving direct and inverse kinematics problems (position, velocity and acceleration). Manipulators with redundant degrees of freedom: optimal solution.

c) Dynamics of manipulators. Rigid bodies models. Newton-Euler and Lagrange formulations. Analysis and balance of forces and moments.

-Motion planning and generation

Recalls on trajectory description within joints and work spaces.
Recalls on manipulators' control (position, force and hybrid algorithms). Languages and programming systems for robotic architectures.

-Components of industrial robots

Electrical actuators. Speed reductions and remote transmissions. Grasping systems. Position, velocity, acceleration and force sensors.

-Robot performance

Structural error effects. Elasticity, friction, backlash and transmission irregularities effects. Kinematic and dynamic calibration of robots. Lumped models for dynamic simulations.
International technical standards on definition and measurement of robots performances.

-Safety in robotic cells

Italian and European technical standards.
Machinery directive. Harmonized technical standards.

-Criteria of use of industrial robots.

Robot insertion into the production process.
Applications in mounting, manipulations and machining operations.

-Technical standards

Main technical standards references: nomenclature, presentation of characteristics, performances criteria and linked testing methods, safety, coordinate systems and movements, mechanical interfaces.

-Micro-manipolators and micro-robot

The course includes the description of the main issues related to microrobotics: handling of components with submillimetric dimension, main issues related to the miniaturization of devices to grasp and release, for the micromanipulation end microassembly, actuators.