Introduction to
collaborative robotics
Objectives of the course and description of grading modalities. Introduction to collaborative robotics and Industry 4.0: motivations, classifications, applications.  

Actuation mechanisms for robot manipulators
Mechanical structure, joints and links. Different types of actuators.

Sensing systems for robot manipulators
Exteroceptive and proprioceptive sensors.

Robot Dynamics 1
Introduction to robot dynamics. Inverse and direct dynamics. Lagrangian formulation.

Robot Dynamics 2
Newton-Euler formulation and its uses.

Robot Control
Introduction to robot control and recall of basic concepts of control theory.

Motion Control 1
Joint space control. Decentralized vs centralized control. Focus on PD control with gravity compensation.

Motion Control 2
Overview of other joint space control techniques. Cartesian (operational) space control schemes. Focus on PD control with gravity compensation.

Force Control
Overview of robot force control schemes. Focus on impedance control.

Conclusions on robot control
Final considerations on robot control and exercises.

Modes of collaboration
Hand guiding, Speed and separation monitoring, Power and force limitations

Robot Dynamics 3
Final considerations on robot dynamics, exercises.

Intelligent collaboration
Importance of mutual understanding between humans and robots.

Conclusions on collaborative robotics
Final considerations on collaborative robotics and exercises.

Final students’ projects
This session will be used for the presentation of the student’s final project.