CFU: 6
Prerequisites
Knowledge on the foundations of robotics.
Preliminary Courses
Foundations of Robotics
Nonlinear Dynamics and Control
Learning Goals
The course aims to provide students with:
- Skills for controlling the interaction between robots and poorly structured environments, through force control, visual control, manipulation and cooperation.
- The tools for modeling, planning and control of self-driving mobile robots (with wheels, drones, legged, underwater).
Expected Learning Outcomes
Knowledge and understanding
The course path aims to provide students with methodological tools for controlling robots in interacting with poorly structured environments. to modeling, planning and control of robots. Force control and visual control techniques for rigid manipulators and control for manipulators with elastic joints are introduced, as well as techniques for controlling manipulation and cooperation of robotic systems. The students must demonstrate that they have learned the solutions to the interaction control problem based on the techniques studied in the course.
Applying knowledge and understanding
The student must demonstrate that (s)he is able to apply the methodologies acquired to model and control robotic systems interacting with the environment.
Course Content - Syllabus
- Interaction of manipulator with the environment
- Compliance control
- Impedance control
- Force control
- Parallel force/motion control
- Constrained motion
- Natural and artificial constraints
- Hybrid force/motion control
- Vision for control
- Image processing
- Pose estimate
- Stereo vision and camera calibration
- Task-space visual control
- Image-space visual control
- Hybrid visual control
- Modeling of manipulators with elastic joints
- Control of manipulators with elastic joints
- Robotic manipulation
- Contact models
- Models of friction
- Definition of grasps
- Internal and external forces
- Kinematic and dynamic models of a system consisting of cooperating robots and manipulated object
- Control and planning of a manipulation task
Readings/Bibliography
- B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics – Modeling, Planning and Control, Springer, London, 2009, ISBN 978-1-84628-641-4
- B. Siciliano, O. Khatib (Eds.), Springer Handbook of Robotics, 2nd Edition, Springer, Berlin, 2016 ISBN 978-3-319-32552-1
- B. Siciliano, O. Khatib, T. Kröger, Multimedia Extension to Springer Handbook of Robotics, 2016.
- Lecture notes available at https://prisma.dieti.unina.it/index.php/education/education-courses/723-robot-interaction-control
Teaching Method
The teacher will use: a) lectures for about 70% of the total hours, b) classroom exercises for about 20% of the total hours, c) seminars for about 10% of the total hours.
Examination/Evaluation criteria
Exam type
Only oral exam. The interview consists in ascertaining the acquisition of the concepts and contents introduced during the lessons.
Evaluation pattern
The final grade will be weighted on the credits of each module and therefore composed as follows:
- Module: Robot Interaction Control, 6 CFU, 50%
- Module: Field and Service Robotics, 6 CFU, 50%