Università Roma Tre

Part One Characteristics of Industrial Robots. Classification. Examples of industrial and service robots from major companies: Unimation, ASEA, Cincinnati Milacron, SCARA, Puma, General Motors' wrist, COMAU, KUKA, FANUC, ABB, da Vinci Surgical System. Characteristics of underwater robots. Classification. Manned vs unmanned. Submarines, submersibles, atmospheric diving suits. Military, research, and tourist applications of submarines. Fundamental distinction between ROV and AUV. Free swimming, Bottom crawling, structurally reliant. Gliders and hybrid vehicles. General architecture of an ROV and AUV, actuators, sensors, and control. Examples: Hercules and Argus. Drifters. Instrumentation, actuation, and control of drifters. Main applications and issues. Inertial navigation systems.

Challenges of the marine environment. Characteristics of the water column. Acoustics, sonar. Optical properties. Column properties: thermocline, metalimnion, pycnocline, halocline, chemocline, lutocline, oceanic mixed layer. Other properties and quantities of interest: Temperature (°C), Salinity (unitless), Density (kg/m3), Conductivity (S/m), Mixed Layer Depth (m), Dissolved Oxygen (µmol/kg), Percent Oxygen Saturation (%), Apparent Oxygen Utilization (µmol/kg), Silicate (µmol/kg), Phosphate (µmol/kg), Nitrate (µmol/kg). Basic laws and principles: surface tension, wettability, pressure inside a droplet, capillary rise, Pascal's principle, Stevin's Law, Archimedes' Principle. Marine currents, tides. Marine animals, algae, and plants.

Part Two Introduction to Rotations in SO(3). Elementary attitude matrices. Parameterization methods of attitude matrices. Euler and Cardano parameterizations. Examples and exercises. Mathematica software exercise (first part). Introduction to transformation matrices in homogeneous coordinates. Properties of displacement matrices in homogeneous coordinates. Mathematica software exercise (second part). Exercise: Attitude matrices in Mathematica. Introduction to Denavit and Hartemberg parameters. Calculation of the transformation matrix in homogeneous coordinates as a function of Denavit Hartenberg parameters. Exercise - Transformation matrices in homogeneous coordinates in Wolfram Mathematica. Exercise: writing a Wolfram Mathematica code for the representation of an RRR robot.

Part Three. First-order Kinematic Analysis. General architecture of a robot, single-axis control. General architecture of a robot general control. Inverse kinematic problem: numerical methods - Newton Raphson. Inverse kinematic problem: analytical methods according to Pieper. Introduction to kinetostatic duality. Calculation of the geometric Jacobian for the general case, introduction to screw theory (twist and wrench). Calculation of the Jacobian in the Denavit and Hartenberg parameterization. Kinetostatic duality in E(3) and SE(3). Control methods for trajectory tracking in E(3) and SE(3).

Part Four. Construction of an Underwater ROV Activities related to the practical construction of a marine ROV. ROV structure. Frame. Use of CAD tools and mechanical design. Propulsion and buoyancy. Choice of materials. Overview of the control system, software and hardware, control boards, and codes. Actuation system, motors, and power. Overview of drifters. Overview of the arms equipped on the ROV. Safety. Logistics. Mission. Main applications. Technological demonstrator - digital twin - acquisition of attitude experimentally - architecture and measurement chain.

Part Five. Direct dynamic problem. Dynamic simulation of multibody systems in space. Introduction to rigid body dynamics in space using Euler parameters. General formula for the step-by-step integration procedure of the equations of dynamics of constrained systems in space. Methods for deducing the motion equation based on the principle of virtual work in dynamics and variational principles: Lagrange's equations. Application of Lagrange's equation to deduce the general equation of motion of the manipulator under dynamic conditions. Inverse dynamic problem. Static equilibrium of a manipulator using the recursive method. Dynamics of Serial Robots using recursive methods.

Course handouts