Alessandro Vittorio Papadopoulos

Industrial Robotics (7.5 hp) (@ MDU, From Fall 2017)

  • The course material is available on Canvas
  • More details on the course can be found here

Overview

  • Introduction to Robotics
  • Robot kinematics
  • Differential kinematics
  • Trajectory generation
  • Robot Joint Control
  • Dynamics and Control
  • Advanced topics in robotics
    • Safety and security in robotics (Guest lecture)
    • Software engineering in robotics (Guest lecture)

Literature

Software

Matlab Robotics toolbox by Peter Corke

Control Theory (7.5 hp) (@ MDU, From Spring 2018)

  • The material of the course will be available on Canvas
  • More details on the course can be found here

Overview

  • Introduction to dynamic systems
  • Linear systems
  • Nonlinear systems
  • Transfer function
  • Block diagrams
  • Frequency response
  • Control Systems
    • Stability
    • Performance
    • Design in the frequency domain
    • PID controllers
  • Discrete-time systems

Literature

Mobile Robotics (7.5 hp) (@ MDU, From Spring 2018)

  • The material of the course will be available on Canvas
  • More details on the course can be found here

Overview

  • Introduction to mobile robotics
  • Kinematics and locomotion concepts
  • Mobile Kinematics
    • Dynamic models of mobile robots
    • Odometry
    • Behavior-based robotics
    • Car-like robots
  • Perception
    • Computer vision
    • 3D vision
  • Localization and Mapping
    • Markov localization
    • Extended Kalman Filter
    • Simultaneous localization and mapping (SLAM)
  • Path Planning
    • Graph generation
    • Graph search
    • Potential field methods

Literature

Fondamenti di Automatica (@ PoliMi)

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Materiale delle esercitazioni