Pasquale CHIACCHIO | Automation and Robotics
Pasquale CHIACCHIO Automation and Robotics
cod. 0622700019
AUTOMATION AND ROBOTICS
| 0622700019 | |
| DIPARTIMENTO DI INGEGNERIA DELL'INFORMAZIONE ED ELETTRICA E MATEMATICA APPLICATA | |
| EQF7 | |
| COMPUTER ENGINEERING | |
| 2016/2017 |
| OBBLIGATORIO | |
| YEAR OF COURSE 2 | |
| YEAR OF DIDACTIC SYSTEM 2015 | |
| PRIMO SEMESTRE |
| SSD | CFU | HOURS | ACTIVITY | |
|---|---|---|---|---|
| ING-INF/04 | 9 | 90 | LESSONS |
| Objectives | |
|---|---|
| The course has the dual aim of presenting the analysis and modelling methods of discrete event systems applied to industrial automation (but also to computer systems, communication networks, transportation networks) and the basics of modelling and control of robots. Knowledge and understanding Discrete event systems. Modeling by automata and Petri nets. Supervisory control. Modeling of industrial robots. Control of industrial robots. Applied knowledge and understanding Ability to analyze and control automation systems by using discrete event system techniques. Ability to model the kinematics of industrial robots. Ability to design control systems for industrial robots by means of linear and-non-linear system control techniques. |
| Prerequisites | |
|---|---|
| FOR THE SUCCESSFUL ACHIEVEMENT OF THE OBJECTIVES, BASIC KNOWLEDGE OF COMPUTER SCIENCE AND ADVANCED KNOWLEDGE OF AUTOMATIC CONTROL (CONTROL OF NONLINEAR DYNAMICAL SYSTEMS) ARE REQUIRED. COMPLEMENTI DI CONTROLLI AUTOMATICI IS REQUIRED. |
| Contents | |
|---|---|
| AUTOMATA-BASED SUPERVISORY CONTROL: ALGEBRA OF LANGUAGES. AUTOMATA AND THEIR PROPERTIES. MODELLING WITH AUTOMATA. CONTROLLABILITY THEOREM. DESIGN OF SUPERVISORY CONTROLLERS BY FINITE STATE AUTOMATA. (HOURS: LESSONS/EXERCISES/LABORATORY 6/6/-) PETRI NETS BASED SUPERVISORY CONTROL: PETRI NETS AND THEIR PROPERTIES. MODELLING WITH PETRI NETS. SUPERVISORY CONTROLLER DESIGN BY USING PETRI NETS. (HOURS 6/6/-) IMPLEMENTATION ISSUES OF THE SUPERVISORY CONTROL: IMPLEMENTATION OF SUPERVISORY CONTROLLERS. (HOURS 8/8/-) INDUSTRIAL ROBOTS: TYPICAL COMPONENTS AND STRUCTURES OF INDUSTRIAL MANIPULATORS. (ORE 2/0/0 ) KINEMATICS: ROTATION MATRIX. EULER ANGLES. HOMOGENEOUS TRANSFORMATION MATRIX. DIRECT KINEMATICS. DIRECT KINEMATICS OF STANDARD MANIPULATORS. INVERSE KINEMATICS. DIFFERENTIAL KINEMATICS. ANALYTIC AND GEOMETRIC JACOBIAN MATRIX. REDUNDANCY ANALYSIS. INVERSE AND TRANSPOSE JACOBIAN BASED INVERSE KINEMATICS ALGORITHMS. STATICS. (HOURS 8/4/-) TRAJECTORY PLANNING. (HOURS 4/0/0) DYNAMICS: DYNAMIC MODEL OF A MANIPULATOR AND ITS PROPERTIES. (HOURS 2/-/-) CONTROL: JOINT SPACE CONTROL. INDEPENDENT JOINT CONTROL. COMPUTED TORQUE FEED-FORWARD CONTROL. CENTRALIZED CONTROL. PD CONTROL WITH GRAVITY COMPENSATION. INVERSE DYNAMICS JOINT CONTROL. (HOURS 8/6/-) CONTROL UNITS. HARDWARE AND SOFTWARE ARCHITECTURE. PROGRAMMING LANGUAGES FOR INDUSTRIAL ROBOTS. (4/0/0) INTRODUCTION TO MOBILE ROBOTS. MAIN PROBLEMS AND TAXONOMY. (HOURS 4/0/-) LABORATORY: PROGRAMMING AND CONTROL OF A STANDARD ROBOT. (HOURS -/-/8) TOTAL HOURS 52/30/8 |
| Teaching Methods | |
|---|---|
| THE COURSE INCLUDES THEORETICAL LESSONS, CLASSROOM EXERCISES AND LABORATORY ACTIVITIES. DURING CLASSROOM EXERCISES, STUDENTS ARE INVITED TO SOLVE ASSIGNED EXERCISES. CONCERNING TO ROBOTICS, LABORATORY ACTIVITIES ON INDUSTRIAL MANIPULATORS ARE SCHEDULED. EXERCISES ON DEDICATED SIMULATION ENVIRONMENTS NEED TO BE CARRIED OUT. RESULTS ARE TO BE DELIVERED TO THE TEACHER IN THE FORM OF A WRITTEN DOCUMENT BEFORE THE ORAL EXAM. IN ORDER TO PARTICIPATE TO THE FINAL ASSESSMENT AND TO GAIN THE CREDITS CORRESPONDING TO THE COURSE, THE STUDENT MUST HAVE ATTENDED AT LEAST 70% OF THE HOURS OF ASSISTED TEACHING ACTIVITIES. |
| Verification of learning | |
|---|---|
| THE FINAL EXAM IS AIMED AT EVALUATING: THE KNOWLEDGE AND UNDERSTANDING OF THE CONCEPTS PRESENTED DURING THE COURSE, THE ABILITY TO APPLY THAT KNOWLEDGE TO SOLVE PROBLEMS OF ANALYSIS AND CONTROL OF AUTOMATION SYSTEMS, MODELLING AND CONTROL OF INDUSTRIAL ROBOTS, THE PERSONAL JUDGEMENT, THE COMMUNICATION SKILLS AND THE LEARNING ABILITIES. THE FINAL EXAM CONSISTS OF A WRITTEN TEST AND A HOMEWORK, WHOSE PURPOSE IS TO ASSESS THE ABILITY TO APPLY THE ACQUIRED KNOWLEDGE, THE QUALITY OF EXPOSITORY WRITING, THEIR PERSONAL JUDGMENT, AND AN ORAL INTERVIEW, THE PURPOSE OF WHICH IS TO ASSESS THE ACQUIRED KNOWLEDGE AND COMPREHENSION SKILLS, THE LEARNING ABILITIES, AND THE ORAL EXPOSITION. THE WRITTEN TEST CONSISTS IN SOLVING TYPICAL PROBLEMS AS THE ONE PRESENTED DURING THE COURSE AND CONCERNING THE DISCRETE EVENT SYSTEMS. THEY CERTAINLY INCLUDE: 1)ANALYSIS OF DISCRETE EVENT SYSTEMS, 2)DESIGN OF A SUPERVISORY CONTROLLER. THE WRITTEN TEST WILL BE EVALUATED BASED ON THE CORRECTNESS OF THE APPROACH AND RESULTS USING THE FOLLOWING SCALE: EXCELLENT, GOOD, FAIR, MORE THAN SUFFICIENT, SUFFICIENT, INSUFFICIENT. THE INSUFFICIENT SCORE IMPLIES THE WRITTEN TEXT REPETITION. CONCERNING THE HOMEWORK, IT WILL COVER TOPICS OF ROBOTICS AND WILL BE DISCUSSED DURING THE ORAL INTERVIEW WHICH WILL ALSO COVER ALL THE TOPICS OF THE COURSE. THE EVALUATION OF THE ORAL EXAM WILL TAKE INTO ACCOUNT THE KNOWLEDGE DEMONSTRATED BY THE STUDENT, THE LEARNING SKILLS, THE QUALITY OF THE EXPOSITION, THE QUALITY OF THE PRESENTED HOMEWORK. CONCERNING THE FINAL SCORE, EXPRESSED OUT OF THIRTY, THE WRITTEN TEST CONTRIBUTES FOR 40% WHILE THE ORAL INTERVIEW FOR 60%. FULL MARKS WITH DISTINCTION MAY BE GIVEN TO STUDENTS WHO DEMONSTRATE THAT THEY CAN APPLY THE ACQUIRED KNOWLEDGE WITH CONSIDERABLE AUTONOMY. |
| Texts | |
|---|---|
| A. DI FEBBRARO, A. GIUA, SISTEMI AD EVENTI DISCRETI, MCGRAW-HILL, MILANO, 2002. ISBN 9788838672699 B. SICILIANO, L. SCIAVICCO, L. VILLANI, G. ORIOLO, ROBOTICS - MODELLING, PLANNING AND CONTROL, SPRINGER, LONDON, 2009, ISBN 978-1-84628-641-4 |
| More Information | |
|---|---|
| FRONTAL LESSONS ARE PROVIDED. ITALIAN IS THE OFFICIAL LANGUAGE. |
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