The course consists of 2 parts: servosystems and robotics.
Part 1:
Aim of the course is the description of the main characteristics of single or multiple degrees of freedom servosystems in order to learn how to deal with mechanical and mechatronics aspects.
The course includes methodologies for kinematics and dynamics modeling, basics of control algorithms and trajectories generation.
Part 2:
Aim of the course is to learn the necessary information for the choice and for the functional and structural design of robots and their adaptation to different applications, their insertion in working cells, and the development of mathematical models for kinematic and dynamic simulation and control.
The course includes the description of the main characteristics of the robot components.
The main technical standard will be also presented.
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.
*Part 1 - Servosystems
-Characteristics and main components of a servo system
-Kinematics
-Dynamics
-Control algorithms
-Motion design
*Part 2 - Robotics
-Origins, history and generalities on robots
-Characteristics and structures of robots
-Analysis of manipulators.
-General characteristics of industrial robots.
-Methodologies for kinematics and dynamics of 3D systems.
-Motion planning and generation
-Components of industrial robots
-Robot performance
-Safety in robotic cells
-Criteria of use of industrial robots.
-Technical standards
-Micro-manipolators and micro-robot
*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.
textbook: ROBOTICA INDUSTRIALE, Giovanni Legnani, CEA Casa Editrice Ambrosiana, ISBN 88-408-1262-8
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see also http://robotics.ing.unibs.it
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A part of the material will be available on-line.
Podium lectures, simulation lab, seminars, visist to indutries or laboratories
Written examination why questions and exercises. The written part on kinematics, dynamics, control and trajectory generation may be replaced by a project (student choice).