MECHANICS AND 
CONTROL OF
COLLABORATIVE ROBOTS
MARIA POZZI

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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
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

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

Harbour.Space University
Tech Heart
COURSE OUTLINE
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Session 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 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/).