Il Corso
Robotics is commonly defined as the science studying the intelligent connection between perception and action. As such, the full scope of robotics lies at the intersection of mechanics, electronics, signal processing, control engineering, computing and mathematical modelling. Within this very broad framework, modelling and control play a basic role, not only in the traditional context of industrial robotics, but also for the advanced scenarios of field and service robots, which have attracted an increasing interest from the research community in the last twenty years. Robot modelling and control are dealt within this course. Kinematic models of both robot manipulators and mobile robots are presented. The Jacobian is introduced as the fundamental tool to describe differential kinematics, determine singular configurations, analyze redundancy, derive the statics model and formulate inverse kinematics algorithms. The equations of motion of a robotic system are found on the basis of the dynamic model which is useful for motion simulation and control algorithm synthesis. Model-based control offers the best performance for tracking motion trajectories suitably planned in either joint or operational space. Controlling the interaction of a robot with the environment requires the adoption of force control and/or visual control. All such control techniques rely on effective parameter estimation methods. On the other hand, for mobile robots trajectory planning methods have to properly account for the nonholonomic constraints, and the motion control problem is tackled with reference to two tasks: trajectory tracking and posture regulation.
We would like to remind all learners enrolled in this MOOC that Springer is offering you the volume "Robotics: Modelling, Planning and Control" at a special discounted rate.
To find out more, please have a look at the second lesson.
Prof. Bruno Siciliano
Cinquantacinque anni, Ordinario di Automatica e Robotica presso l’Università di Napoli Federico II, il professor Bruno Siciliano è responsabile scientifico di PRISMA Lab presso il Dipartimento di Ingegneria Elettrica e Tecnologie dell'Informazione. I suoi interessi di ricerca riguardano il controllo di forza, il controllo visuale, la manipolazione bimanuale, la robotica aerea, l’interazione tra robot ed esseri umani e la robotica di servizio. Fellow di IEEE, ASME e IFAC, ha pubblicato 300 articoli e 7 libri sulla robotica; il suo libro Robotics: Modelling, Planning and Control è tra i testi più adottati nelle università del mondo. Ha tenuto 150 seminari su invito di istituzioni estere. È Editor della collana Springer Tracts in Advanced Robotics, e ha curato il volume Springer Handbook of Robotics che ha ricevuto il 2008 AAP PROSE Award for Excellence in Physical Sciences & Mathematics, and Award for Engineering & Technology. Il suo gruppo di ricerca ha partecipato a 14 progetti finanziati dall'Unione Europea per complessivi 8.5 milioni di euro negli ultimi 7 anni, tra cui un prestigioso Advanced Grant da parte di European Research Council. È stato Presidente di IEEE Robotics and Automation Society nel biennio 2008−2009. Tra i numerosi riconoscimenti, di recente gli è stato assegnato il 2015 IEEE RAS George Saridis Leadership Award in Robotics and Automation.
