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Glossary
Semester (Sem)
1First Semester
2Second Semester
AAnnual course
Educational activities
CSimilar or integrative activities
Language
Course completely offered in italian
Course completely offered in english
--Not available
Innovative teaching
The credits shown next to this symbol indicate the part of the course CFUs provided with Innovative teaching.
These CFUs include:
  • Subject taught jointly with companies or organizations
  • Blended Learning & Flipped Classroom
  • Massive Open Online Courses (MOOC)
  • Soft Skills
Course Details
Context
Academic Year 2018/2019
School School of Industrial and Information Engineering
Name (Master of Science degree)(ord. 270) - MI (481) Computer Science and Engineering
Track T2A - COMPUTER SCIENCE AND ENGINEERING
Programme Year 1

Course Details
ID Code 090914
Course Title CONTROL OF INDUSTRIAL ROBOTS
Course Type Mono-Disciplinary Course
Credits (CFU / ECTS) 5.0
Semester First Semester
Course Description This course will present current and advanced methodologies for the control of robotic manipulators. After the review of some basic elements, and the presentation of a few advanced topics, in robot kinematics, the dynamic model of the manipulator will be discussed, along with its main properties. The control of the manipulator will be addressed both in terms of motion planning and in terms of feedback control. Path and trajectory planning in joint space and in Cartesian space will be presented, together with advanced topics such as kinematic and dynamic scaling of trajectories and obstacle avoidance. Concerning the feedback control, independent joint control techniques will be first discussed, with emphasis on the role of the flexibility in the joints, then advanced model-based centralized controllers will be studied. The final part of the course will be devoted to the control of robots with external sensors, including both force sensors to control the physical interaction with the environment and vision sensors to model the environment and achieve visual servoing of the manipulator.
Scientific-Disciplinary Sector (SSD)
Educational activities SSD Code SSD Description CFU
C
ING-INF/04
SYSTEMS AND CONTROL ENGINEERING
5.0

Schedule, add and removeAlphabetical groupProfessorLanguageCourse details
From (included)To (excluded)
--AZZZZRocco Paolo
manifesti v. 3.1.9 / 3.1.9
Area Servizi ICT
12/12/2019