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Programma - robot manipolatori

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Programma - robot manipolatori

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  1. - INTRODUCTION TO ROBOTICS1. Rotation matrices, solution to the direct kinematics solution using geometric and systematic methodologies; tutorial on planar manipulator with two arms2. Conventions Denavit Hartemberg; inverse kinematics3. manipulator calibration and uncertainty vector4. inverse kinematics5. kinematic differential (analysis of singularities)6. kinematic differential (redundancy analysis and reverse kinematics)7. reverse kinematics8. Introduction to simulation using Simulink. Practice in the classroom by numerical simulation Programma - robot manipolatori

  2. In the laboratory of mechatronics is an industrial SCARA robot manipulator with 4 axles... Why not use it for exercises during the course? In 1981, Sankyo Seiki of NEC presented a completely new concept for assembly robots.The robot was called Selective Compliance Assembly Robot Arm, SCARA. Its arm was rigid in Z-axis and flexible in XY-axes, Which allowed it to Adapt to holes in the XY-axes. Programma - esercitazione

  3. LABVIEW general concepts 1LABVIEW general concepts 2LABVIEW simulation application for obstacle avoidance (using a simulator and the kinematics of the robot that the view with the camera)LABVIEW simulation application for obstacle avoidanceLABVIEW verification of laboratory robots The robot, equipped with a camera, must perform a path bypassing an unexpected obstacle start stop Programma - esercitazione

  4. SENSOR FUSION - Laser and Camera Camera Laser Range Finder • direct depth measurement • wide accuracy span (till 200 m) • only 2 or 3 D contour • illumination dependent • accurate only for limited distances • info on colour and texture • high computational time Programma - LASER + CAMERA

  5. MEASUREMENT BY LASER and CAMERA • Laser rangefinders, principles and applications• Laser-Camera CalibrationMEASUREMENT BY LASER and CAMERA: object recognition• Clustering and segmentation of the scene seen by the laser• Chamfer distance (or Hausdorff)MEASUREMENT BY LASER and CAMERA: object recognition• reprojection of the object model of CCD• Corner extraction • Matching and acceptance Programma - LASER + CAMERA

  6. MEASUREMENT BY LASER and CAMERA: object recognition• Practice with real data. The scene will be a box of given size to be recognizedMEASUREMENT BY LASER and CAMERA: object recognition• Practice with real data.SUPERQUADRICHE• General conceptsSUPERQUADRICHE• Application to object recognition Programma - esercitazione

  7. SENSOR FUSION of timeline signals- Complementary Filtering. Theory and applications. Example of simulation of an altimeter baro-inertial.SENSOR FUSION of timeline signals- Simulation PC in the classroom portion of the estimate by filtering between a barometer and an inertial platformSENSOR FUSION of timeline signals- Development of real data:- Measurement of the camera position by means of an object in motion on a plane by means of KLT, after having calibrated the worktop (using a grid placed on the floor)- Combined with the accelerometer data and complementary filtering Telecamera + oggetto sul piano con accelerometro solidale Programma - sensor fusion + esercitazione

  8. Programma - sensor fusion + tesina

  9. SENSOR FUSION- Statistical concepts accessories, Bayes' TheoremSENSOR FUSION- Application of Bayes' theorem to the fusion of information scalar and vectorSENSOR FUSION- Kalman FilterSENSOR FUSION. Tutorial SLAM + Kalman. Mapping with laser scanner or cameraSENSOR FUSION. Tutorial SLAM + Kalman. Mapping with laser scanner or camera Programma - sensor fusion + tesina

  10. MOBILE ROBOT - Overview of applications. Localization issues, planning and control, holonomic and non-linear differential constraints. Conditions of integrability, Model Differential Drive. Recursive equations for odometry.MOBILE ROBOT - Models kinematic unicycle, bicycle and bicycle trailers with NMOBILE ROBOT - Problem of planning. Classification. Transformation of kinematic models in chained form.MOBILE ROBOT - Planning open-loop. Systems in chained form for the solution of the motion point-to-point with sinusoidal input, wise constant, polynomial. Calculation of Cartesian trajectories eligibleMOBILE ROBOT - Planning open-loop. Clothoids and polar spline. Examples of calculation.MOBILE ROBOT - Controllability of systems that are not holonomic. Example of control system in chained form linearized around the desired trajectory Programma - robot mobili

  11. Exam: homework + 1 ORAL ARGUMENTS ON 2 CHOICES (between 4 topics, which does not coincide with that of the homework), 1 topic for mehanics areaHomework chose examples:  trajectory control of manipulators by inverting the differential kinematics (CLASS)  simulation and trajectory control for non-holonomic vehicles  processing data for the calibration kinematics of an autonomous vehicle AGV  SLAM using a laser scanner at 360 ° Modalità di esame

  12. L.Sciavicco, B. Siciliano, Robotica - Modellistica, pianificazione e controllo 3/ed, McGraw Mitchell Harvey, "Multi-Sensor Data Fusion: An Introduction" - Springer 2007 Ake Bjork, Numerical methods for least squares problems M. De Cecco, Lucidi del corso di Robotica e Sensor Fusion Luca Baglivo, M. De Cecco, Navigazione di Veicoli Autonomi - Fondamenti di “sensor fusion” per la localizzazione L. Baglivo, Navigazione di Veicoli Autonomi (Localizzazione, Pianificazione e Controllo traiettoria) Testi Consigliati

  13. VIDEO

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