| Robotics
(objectives)
The course encompasses industrial manipulators and mobile platforms(autonomous vehicles) and provides the basis of the kinematic e dynamic modelling and of the motion control and planning. As for mobile platforms, the focus will be on terrestrial ones, but some attention will be given aslo to aerial ones (drones) anda maritime ones. At the end of the coursee the student will be able to partecipate to projects involving the design and the use of robots.
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Code
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20802143 |
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Language
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ITA |
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Type of certificate
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Profit certificate
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Credits
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9
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Scientific Disciplinary Sector Code
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ING-INF/04
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Contact Hours
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81
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Type of Activity
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Core compulsory activities
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Teacher
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GASPARRI ANDREA
(syllabus)
Manipulators (Chapters of Siciliano et al. Robotics):
- Direct kinematics
- Differential kinematics
- Inverse kinematics
- Trajectory planning
- Statics and manipulability ellipsoids
- Overview of the dynamic model
- Motion control schemes
- Overview of force control schemes
Mobile robotics:
- Basic Topological Concepts (Chapter 4.1, LaValle Planning Algorithms)
- 2D Rigid Bodies: SE(2) (Chapter 4.2.1, LaValle Planning Algorithms)
- Vector Fields and Integral Curves (Chapter 8.3, LaValle Planning Algorithms)
- Differential Models (Chapter 13.1, LaValle Planning Algorithms)
- Control Affine Systems (Chapter 15.4, LaValle Planning Algorithms)
- Motion Control (Chapter 11.6, Siciliano et al. Robotics)
- Multi-Robot Swarming (Chapter 3, Gazi & Passino, Swarm Stability and Optimization)
(reference books)
- Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. 2009. Robotics: Modelling, Planning and Control. Springer Publishing Company, Incorporated.
- Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press, USA.
- Veysel Gazi and Kevin Passino. 2011. Swarm Stability and Optimization. Springer Publishing Company, Incorporated.
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Dates of beginning and end of teaching activities
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From 26/09/2022 to 20/01/2023 |
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Delivery mode
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Traditional
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Attendance
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not mandatory
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Evaluation methods
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Oral exam
A project evaluation
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Teacher
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LIPPI MARTINA
(syllabus)
Manipulators (Chapters of Siciliano et al. Robotics):
- Direct kinematics
- Differential kinematics
- Inverse kinematics
- Trajectory planning
- Statics and manipulability ellipsoids
- Overview of the dynamic model
- Motion control schemes
- Overview of force control schemes
Mobile robotics:
- Basic Topological Concepts (Chapter 4.1, LaValle Planning Algorithms)
- 2D Rigid Bodies: SE(2) (Chapter 4.2.1, LaValle Planning Algorithms)
- Vector Fields and Integral Curves (Chapter 8.3, LaValle Planning Algorithms)
- Differential Models (Chapter 13.1, LaValle Planning Algorithms)
- Control Affine Systems (Chapter 15.4, LaValle Planning Algorithms)
- Motion Control (Chapter 11.6, Siciliano et al. Robotics)
- Multi-Robot Swarming (Chapter 3, Gazi & Passino, Swarm Stability and Optimization)
(reference books)
- Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo. 2009. Robotics: Modelling, Planning and Control. Springer Publishing Company, Incorporated.
- Steven M. LaValle. 2006. Planning Algorithms. Cambridge University Press, USA.
- Veysel Gazi and Kevin Passino. 2011. Swarm Stability and Optimization. Springer Publishing Company, Incorporated.
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Dates of beginning and end of teaching activities
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From 26/09/2022 to 20/01/2023 |
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Delivery mode
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Traditional
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Attendance
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not mandatory
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Evaluation methods
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Oral exam
A project evaluation
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Università Roma Tre