ECTS - University of Pisa
| Modules | Area | Type | Hours | Teacher(s) | |
| CONTROLLI AUTOMATICI I | ING-INF/04 | LEZIONI | 60 |
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The course is divided into two parts: automatic control and robot mechanics. The first part offers to students knowledge and instruments for the analysis of dynamic mechanical systems, and for the project of the devices to control them. The second part will enable to analyze, model and design robotic systems. By the end of the course, students should be able to: - analyze and control complex mechanical systems; - evaluate the limits of application of the linear control methodologies in the case of non linear systems and to correctly use the instruments useful to overcome such limitations. - read and understand the commercial devices used in the control of machines and mechanical systems, and to project control systems using such devices. - know typologies and applications of the robotic systems used in industry and other service sectors - define the geometrical, kynematical and dynamical models adopted in robotics - elaborate functional projects of such mechanical systems
During the exam, the student must demonstrate full comprehension on the three main topics of the course
Methods:
Further information:
first part: written and oral text. During the written text the student has to solve one or more exercises. The use of course material and of every other useful material is allowed during the text, including the possibiilty of using commercial SW both for the project and simulation. The oral text consists of one or more questions. The Examination Committee decides the final mark on the basis of all the elements collected during the two texts. second part: oral text. The final mark will be the average of the marks of both parts
Delivery: face to face
Learning activities:
Attendance: Advised
Teaching methods:
The course includes two parts. the first part deals with control of linear systems, and the second with the control of non linear mechanical systems. Contents: 1) - Introduction. problems in the control of linear systems obtained by linearization of non linear systems. Examples of the limitations of the classical (input-output) approach to control - Stability - Attainability and controllability - State feedback - Observability and rebuildability - System regulation and output feedback 2) - Introduction - Robot geometry and kineto-static duality for serial and parallel manipulators - Dynamics - Constrained systems
first part: - P. Bolzern, R. Scattolini, N. Schiavoni: “Fondamenti di Controlli Automatici”, McGraw Hill - E. Fornasini, G. Marchesini: “Appunti di Teoria dei Sistemi” -Notes of the lecturer (available on the course website) second part: - B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, “Robotica – Modellistica, Pianificazione e Controllo”, McGraw-Hill, Terza Edizione, 2008. - Notes of the lecturer (available on the lecturer's website) Recommended readings include (second part): - R. M. Murray, Z. Li, S. S. Sastry, “A Mathematical Introduction to Robotic Manipulation”, CRC Press, 1994. - M. W. Spong, S. Hutchinson, M. Vidyasagar, “Robot Modeling and Control”, J. Wiley & Sons, 2006. - J. Angeles, “Fundamentals of Robotic Mechanical Systems: theory, methods and algorithms”, Springer, Second Edition,2003. - L. W. Tsai, “Robot Analysis – The Mechanics of Serial and Parallel Manipulators”, J. Wiley & Sons, 1999. - A. A. Shabana, “Dynamics of Multibody Systems”, Cambridge University Press, Third Edition, 2005
