M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion - INTRODUCTION TO ROBOTICS 1. Rotation matrices, solution to the direct kinematics solution

M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion

- INTRODUCTION TO ROBOTICS

1. Rotation matrices, solution to the direct kinematics solution using geometric and

systematic methodologies; tutorial on planar manipulator with two arms

2. Conventions Denavit Hartemberg; inverse kinematics

3. manipulator calibration and uncertainty vector

4. inverse kinematics

5. kinematic differential (analysis of singularities)

6. kinematic differential (redundancy analysis and reverse kinematics)

7. reverse kinematics

8. Introduction to simulation using Simulink. Practice in the classroom by

numerical simulation

Programma - robot manipolatori


Programma - esercitazione

In the laboratory of mechatronics is an industrial SCARA robot manipulator with 4 axles

... Why not use it for exercises during the course?

In 1981, Sankyo Seiki of NEC presented a completely new concept for assembly robots.The robot was called Selective Compliance Assembly Robot Arm, SCARA. Its arm was rigid in Z-axis and flexible in XY-axes, Which allowed it to Adapt to holes in the XY-axes.


LABVIEW general concepts 1

LABVIEW general concepts 2

LABVIEW simulation application for obstacle avoidance (using a simulator

and the kinematics of the robot that the view with the camera)

LABVIEW simulation application for obstacle avoidance

LABVIEW verification of laboratory robots

start stop

The robot, equipped with a

camera, must perform a path

bypassing an unexpected

obstacle



Laser Range Finder Laser Range Finder CameraCamera

direct depth measurementdirect depth measurement

wide accuracy span (till 200 m)wide accuracy span (till 200 m)

only 2 or 3 D contouronly 2 or 3 D contour

illumination dependentillumination dependent

accurate only for limited distancesaccurate only for limited distances

info on colour and textureinfo on colour and texture

high computational timehigh computational time

SENSOR FUSION - Laser and Camera

Programma - LASER + CAMERA


MEASUREMENT BY LASER and CAMERA

• Laser rangefinders, principles and applications

• Laser-Camera Calibration

MEASUREMENT BY LASER and CAMERA: object recognition

• Clustering and segmentation of the scene seen by the laser

• Chamfer distance (or Hausdorff)

MEASUREMENT BY LASER and CAMERA: object recognition

• reprojection of the object model of CCD

• Corner extraction

• Matching and acceptance

Programma - LASER + CAMERA


MEASUREMENT BY LASER and CAMERA: object recognition• Practice with real data. The scene will be a box of given size to be recognizedMEASUREMENT BY LASER and CAMERA: object recognition• Practice with real data.SUPERQUADRICHE• General conceptsSUPERQUADRICHE• Application to object recognition



SENSOR FUSION of timeline signals- Complementary Filtering. Theory and applications. Example of simulation of an altimeter baro-inertial.SENSOR FUSION of timeline signals- Simulation PC in the classroom portion of the estimate by filtering between a barometer and an inertial platformSENSOR FUSION of timeline signals- Development of real data:- Measurement of the camera position by means of an object in motion on a plane by means of KLT, after having calibrated the worktop (using a grid placed on the floor)- Combined with the accelerometer data and complementary filtering

Telecamera + oggetto sul piano con accelerometro solidale

Programma - sensor fusion + esercitazione


Programma - sensor fusion + tesina


SENSOR FUSION

- Statistical concepts accessories, Bayes' Theorem

SENSOR FUSION

- Application of Bayes' theorem to the fusion of information scalar and vector

SENSOR FUSION

- Kalman Filter

SENSOR FUSION. Tutorial SLAM + Kalman. Mapping with laser scanner or camera

SENSOR FUSION. Tutorial SLAM + Kalman. Mapping with laser scanner or camera

Programma - sensor fusion + tesina


MOBILE ROBOT - Overview of applications. Localization issues, planning and

control, holonomic and non-linear differential constraints. Conditions of integrability,

Model Differential Drive. Recursive equations for odometry.

MOBILE ROBOT - Models kinematic unicycle, bicycle and bicycle trailers with N

MOBILE ROBOT - Problem of planning. Classification. Transformation of kinematic

models in chained form.

MOBILE ROBOT - Planning open-loop. Systems in chained form for the solution of

the motion point-to-point with sinusoidal input, wise constant, polynomial. Calculation

of Cartesian trajectories eligible

MOBILE ROBOT - Planning open-loop. Clothoids and polar spline. Examples of

calculation.

MOBILE ROBOT - Controllability of systems that are not holonomic. Example of

control system in chained form linearized around the desired trajectory

Programma - robot mobili


Modalità di esame

Exam: homework + 1 ORAL ARGUMENTS ON 2 CHOICES (between 4 topics, which does not coincide with that of the homework), 1 topic for mehanics area

Homework chose examples: trajectory control of manipulators by inverting the differential kinematics (CLASS) simulation and trajectory control for non-holonomic vehicles processing data for the calibration kinematics of an autonomous vehicle AGV SLAM using a laser scanner at 360 °


L.Sciavicco, B. Siciliano, Robotica - Modellistica, pianificazione e controllo 3/ed, McGraw

Mitchell Harvey, "Multi-Sensor Data Fusion: An Introduction" - Springer 2007

Ake Bjork, Numerical methods for least squares problems

M. De Cecco, Lucidi del corso di Robotica e Sensor Fusion

Luca Baglivo, M. De Cecco, Navigazione di Veicoli Autonomi - Fondamenti di “sensor fusion” per la localizzazione

L. Baglivo, Navigazione di Veicoli Autonomi (Localizzazione, Pianificazione e Controllo traiettoria)

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M. De Cecco - Lucidi del corso di Robotica e Sensor Fusion - INTRODUCTION TO ROBOTICS 1. Rotation matrices, solution to the direct kinematics solution