Biomedical Engineering | Course catalogue

MODULO II

Course objectives

General objectives Provide basic tools for modeling and control of robotic systems for service and medical applications. Specific objectives Knowledge and understanding: The student will learn actuators and sensors used in robotic systems and their working principles and the basic methods for modeling, analysis and kinematic control of robotic manipulators, motion control algorithms. Apply knowledge and understanding: The student will be able to analyze the kinematic structures of serial manipulators and design algorithms for motion control and the execution of assigned tasks. Critical and judgment skills: The student will be able to identify the functional characteristics of a robotic system with reference to the type of task, mainly of interest for medical applications, to analyze the complexity of implementation, the performances and any critical issues. Communication skills: The course will allow students to be able to present the main problems and the technical solutions related to the use and application of robotic systems. Learning ability: The course aims at developing autonomous learning abilities in the students, oriented to the analysis and solution of problems in the use of robots.

Channel 1

MARILENA VENDITTELLI Lecturers' profile

Program - Frequency - Exams

Course program

Kinematics of manipulators: representations of rigid body orientation; direct and inverse kinematics of robot manipulators; differential kinematics: analytic and geometric Jacobians. Statics: transformations of forces. Control: control system architectures; kinematic control laws (in joint or in task/Cartesian space); independent joint axis control.

Prerequisites

Good knowledge of basic rigid body kinematics and dynamics and control of linear dynamic systems.

Books

B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo "Robotics: Modelling, Planning and Control", 3rd Edition, Springer, 2009

Teaching mode

Traditional lectures illustrate the methodological bases of the course topics. The application of the methodologies is illustrated through case studies and the nalysis of systems in use in clinical practice. Multiple choice tests are periodically proposed in the Sapienza e-learning environment for a quick check of the acquired knowledge.

Frequency

Not mandatory.

Exam mode

Students are required to complete two homeworks during the course to have access to projects assignments. The alternative exam modality consists in a written part and an oral discussion.

Lesson mode