MECHANICS AND CONTROL OF COLLABORATIVE ROBOTS
MARIA POZZIHarbour.Space is a university created by entrepreneurs for entrepreneurs. We focus on meeting the demands of the future, while traditional education providers are too often stuck in the past.
We’re one of the only European institutions completely dedicated to technology, design and entrepreneurship, and our interdisciplinary courses are taught by some of today’s leading professionals. Our aim is not only to equip students with the knowledge to take on the real world, but to nurture, create and shape tomorrow’s tech superstars.
Robotics has considerably improved industrial processes, and is expected to soon become an important part of our daily life, since it is starting to face more human-centered problems. Important technological advancements are leading to the construction of lightweight robot arms able to effectively co-work with humans, without being confined into industrial production cells anymore. After a detailed introduction on basic and more advanced notions related to robot manipulators mechanics and control, this course will encourage discussion on the “collaborative robotics” paradigm shift, outlining its main challenges, advantages, and limitations.
Maria Pozzi is a Postdoctoral Researcher in Robotics and Automation at the Department of Information Engineering and Mathematics at the University of Siena, Italy. She recently concluded a PhD program on Information Engineering, conducted at the University of Siena and at the Istituto Italiano di Tecnologia (IIT) in Genoa, Italy. She carries on her research in the Siena Robotics and Systems Lab (http://sirslab.diism.unisi.it/), studying the principles and mechanisms that regulate human and robotic grasping, with applications in human-robot collaboration. She is also working on educational robotics within the European project "INBOTS - Inclusive Robotics for a Better Society" (http://inbots.eu/).
- Differences between Lagrangian and Newton-Euler formulations of robot dynamics
- Most used actuation mechanisms and sensing systems for robot manipulators
- Existing motion control techniques for robot manipulators
- Existing force control techniques for robot manipulators
- Four collaboration modes between humans and robots
- Control schemes for collaborative robotics
SKILLS:
-Robotics Automation
-Haptic Interfaces
ABOUT MARIA
ABOUT HARBOUR.SPACE
WHAT YOU WILL LEARN
DATE: 4 Nov - 22 Nov, 2019
DURATION: 3 Weeks
LECTURES: 3 Hours per day
LANGUAGE: English
LOCATION: Barcelona, Harbour.Space Campus
COURSE TYPE: Offline
HARBOUR.SPACE UNIVERSITY
RESERVE MY SPOT
DATE: 4 Nov - 22 Nov, 2019
DURATION: 3 Weeks
LECTURES: 3 Hours per day
LANGUAGE: English
LOCATION: Barcelona, Harbour.Space Campus
COURSE TYPE: Offline
All rights reserved. 2017
COURSE OUTLINESession 1
Introduction to
collaborative robotics
Objectives of the course and description of grading modalities. Introduction to collaborative robotics and Industry 4.0: motivations, classifications, applications.
Session 4
Robot Dynamics 1
Introduction to robot dynamics. Inverse and direct dynamics. Lagrangian formulation.
Session 3
Sensing systems for robot manipulators
Exteroceptive and proprioceptive sensors.
Session 2
Actuation mechanisms
for robot manipulators
Mechanical structure, joints and links. Different types of actuators.
MECHANICS AND CONTROL OF COLLABORATIVE ROBOTS
BIBLIOGRAPHY
Robotics: Modelling, Planning and Control by Bruno Siciliano, Lorenzo Sciavicco and Luigi Villani and Giuseppe Oriolo (Springer; 1st ed, 2009)
"Modern Robotics: Mechanics, Planning, and Controlg" by Kevin M. Lynch, Frank C. Park (Cambridge University Press, 201)
Robotics has considerably improved industrial processes, and is expected to soon become an important part of our daily life, since it is starting to face more human-centered problems. Important technological advancements are leading to the construction of lightweight robot arms able to effectively co-work with humans, without being confined into industrial production cells anymore. After a detailed introduction on basic and more advanced notions related to robot manipulators mechanics and control, this course will encourage discussion on the “collaborative robotics” paradigm shift, outlining its main challenges, advantages, and limitations.
- Differences between Lagrangian and Newton-Euler formulations of robot dynamics
- Most used actuation mechanisms and sensing systems for robot manipulators
- Existing motion control techniques for robot manipulators
- Existing force control techniques for robot manipulators
- Four collaboration modes between humans and robots
- Control schemes for collaborative robotics
Maria Pozzi is a Postdoctoral Researcher in Robotics and Automation at the Department of Information Engineering and Mathematics at the University of Siena, Italy. She recently concluded a PhD program on Information Engineering, conducted at the University of Siena and at the Istituto Italiano di Tecnologia (IIT) in Genoa, Italy. She carries on her research in the Siena Robotics and Systems Lab (http://sirslab.diism.unisi.it/), studying the principles and mechanisms that regulate human and robotic grasping, with applications in human-robot collaboration. She is also working on educational robotics within the European project "INBOTS - Inclusive Robotics for a Better Society" (http://inbots.eu/).