Corso di Sistemi Robotici
Laurea in Informatica Magistrale

Sistemi Robotici

A.A. 2021-22

SOFTWARE:

SLIDES:

  1. Introduction
  2. Modelling a Cart
  3. The Software Framework
  4. Controlling the Cart
  5. Overview of Dynamic System Theory (definitions, models, equilibrium, stability, eigenvalues)
  6. Modelling an Arm
  7. Controlling an Arm
  8. Summary on PID Control
  9. PID Control with Saturation
  10. Speed & Position Control in Cascade
  11. Model and Control of Robot in a 2D Space
  12. Locomotion Systems of a Robot in a 2D Space
  13. Kinematics, Dyamics and Control of a Manipulator
  14. Kinematics, Dyamics and Control of a Multirotor
  15. Simulation and Control of a Multirotor
  16. Attitude and Heading Reference System
  17. Digital Filters, Kalman Filtering
  18. Path Planning and Obstacle Avoidance
  19. Implementation Aspects of Control Systems
  20. Behaviour, Reasoning and Planning
  21. Declarative Programming using PHIDIAS
  22. Eserciziario su PHIDIAS
  23. Esercizio su PHIDIAS (container) Testo Soluzione
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