ROB 24 2

Lectures of the course

Introduction to robotics/Sistemi robotici

for the master in Mechanical engineering and Laurea Magistrale in
Ingegneria Informatica

recorded at the University of Cassino in the fall semester of the
academic year a.a. 2020/2021.
Copy of the slides, code and accompanying material are available on
classroom. Lectures denoted with a star * are in Italian.
Webpage of the teacher, Gianluca Antonelli:
https://sites.google.com/unicas.it/gianluca-antonelli.

Table of content

1 – Introduction
2 – Kinematics: rotation matrices, orientation representations
3 – Kinematics: homogeneous transformation, direct kinematics,
operational & joint spaces
4 – Inverse kinematics, differential kinematics, geometric Jacobian
5 – Geometric & analitical Jacobian, kinematic singularities
6 – Matlab: direct kinematics, CoppeliaSim
7 – Math recap, differential kinematics inversion
8 – Matlab: Geometric Jacobian
9 – Algorithms for differential kinematics inversion
10 – Trajectory planning
11 – Matlab: trapezoidal velocity profile
12 – Statics
13 – Actuators and sensors
14 – Matlab: inverse kinematics only posistion
15* – Dinamica: Lagrangiana, proprietà del modello, modelli di
manipolatori tipici
16 - Matlab: inverse kinematics position + orientation(quaternion)
17 - Matlab: inverse kinematics position + orientation(quaternion) in
full dimension
18* – Dinamica: Newton-Eulero, ellissoidi di manipolabilità, scalatura
dinamica
19* – Controllo del moto: ctr ai giunti
20* – Ctr PD+gravità spazio giunti, ctr a compensazione della dinamica
spazio giunti
21* – Matlab: ctr PD+gravità per Jaco2 spazio giunti
22* – Ctr adattativo spazio giunti, Ctr PD+g spazio operativo, ctr a
compensazione dinamica spazio operativo
23* - Matlab: ctr PD+gravità per Jaco2 spazio operativo
24* – Controllo della interazione: ctr di cedevolezza
25* – Ctr di impedenza e ammettenza
26* – Matlab: ctr impedenza
27* – Ctr di forza, ctr parallelo
28 – Connecting Matlab-CoppeliaSim