Studying at the University of Verona
Here you can find information on the organisational aspects of the Programme, lecture timetables, learning activities and useful contact details for your time at the University, from enrolment to graduation.
Study Plan
This information is intended exclusively for students already enrolled in this course.If you are a new student interested in enrolling, you can find information about the course of study on the course page:
Laurea interateneo in Ingegneria dei sistemi medicali per la persona - Enrollment from 2025/2026The Study Plan includes all modules, teaching and learning activities that each student will need to undertake during their time at the University.
Please select your Study Plan based on your enrollment year.
1° Year
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2° Year activated in the A.Y. 2022/2023
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3° Year activated in the A.Y. 2023/2024
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1 MODULE TO BE CHOSEN BETWEEN THE FOLLOWING
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Modules | Credits | TAF | SSD |
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1 MODULE TO BE CHOSEN BETWEEN THE FOLLOWING
Modules | Credits | TAF | SSD |
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Altre attività formative: lo studente può scegliere tra le 2 seguenti opzioni: a) 2 CFU di seminari al 2 anno e 7 CFU di tirocinio al 3 anno oppure b) 9 CFU di tirocinio al 3 anno.
Legend | Type of training activity (TTA)
TAF (Type of Educational Activity) All courses and activities are classified into different types of educational activities, indicated by a letter.
Integrated development of devices and collaborative robots for the biomendical industry (2023/2024)
Teaching code
4S009881
Academic staff
Coordinator
Credits
6
Language
Italian
Scientific Disciplinary Sector (SSD)
ING-INF/04 - SYSTEMS AND CONTROL ENGINEERING
Period
Semester 1 dal Oct 2, 2023 al Jan 26, 2024.
Courses Single
Authorized
Learning objectives
The course introduces the basic knowledge to develop, design, produce, and assemble medical devices, with particular reference to the use and control of collaborative robots in the medical and biomedical environment. The course develops the basic skills to set up a product development project, considering both the mechanical and structural aspects and the control and management aspects.
Prerequisites and basic notions
None
Program
Industrial Robotics fundamentals
- Introduction to robotics: What is a robot? Robots History. Robot classification. Evolution toward Industrial robots. Other kind of robots: service robots, exoskeletons. Medical robotics.
- Robot’s functional units: Mechanical Structure: joints, links, end-effector, workspace, robot classification based on joint arrangement. Overview of functional units of a robot: sensors, actuators, etc.
- Kinematics of a rigid body: Position and orientation of a rigid body. Reference frames. Rotation matrices (properties, composition, and interpretations). Derivative of a rotation matrix. Minimal representations of orientation. Skew-symmetric matrices. Euler angles. Relation between Euler rates and angular velocity. Unit quaternions.
- Manipulator direct kinematics: Definition of forward and inverse kinematics. Joint, task and actuation spaces. Generalized coordinates. Denhavit-Hartenberg notation. Forward kinematics of robot manipulators. Homogeneous transformations (properties, composition and interpretations). Inverse of a homogeneous transformation matrix. Frame placement. Direct kinematics of a kinematic chain.
- Inverse Kinematics: Definition of inverse kinematics. Solvability and workspace. Closed form (analytical) solutions. Examples.
- Direct Differential Kinematics: Linear and angular velocity of a rigid body. Linear and angular velocity of a manipulator link driven from prismatic or revolute joints. Contribution of prismatic and revolute joints to end-effector velocity. The Geometric Jacobian. The Analytical Jacobian. Relationship between Geometric and Analytical Jacobian.
- Redundancy and Singularities: Definition of redundancy. Redundant manipulators. Primer on linear algebra sub-spaces. The pseudo-inverse. Geometric interpretation of inverse kinematics mapping. Singular values. Definition of singularity. Types of singularities. Inverse differential kinematics and singularities. Damped least-squares method. Higher order differential inversion.
Simulation of robotic solutions
- Fundamental components of a robotic system. Collaborative robotics and safety of human-robot interaction (the main safety standards). Examples of collaborative robotics solutions applied to the biomedical field. The design process of robotic solutions.
- Tools for the simulation and analysis of robotic solutions. Presentation of ROS - Robot Operating System. Configuration and first steps.
- Implementation of a manipulation solution with ROS. Setup of ROS environment. Python fundamentals. ROS environment architecture and first exercises. Matrix transformations. Modeling of serial manipulators - URDF file - with examples on Denhavit-Hartenberg convention application and URDF modeling to commercial robots. Trajectory planning - MoveIt and Gazebo. Preparing robotic environments in Gazebo - objects modeling. Modeling of robot grippers. Modeling of vision systems (cameras) for object localization. Python scripts for defining robot trajectories. Setup and simulation of a pick and place process.
Bibliography
Didactic methods
The teaching includes theoretical and laboratory lectures. The lectures will be held in the classroom/laboratory with streaming sharing. At the end of the lectures, the recordings are made available on the moodle/panotopo platform. During the theoretical and laboratory lectures, exercises will be carried out to consolidate the learning of theoretical notions. The laboratory activity presents and uses open-source simulation tools widely used by the scientific community, such as ROS environment and apps and Python programming language. Along the laboratory activities, a whole case study will be implemented. To stimulate the constant and active participation of students, exercises will be proposed. Teaching material developed from reference books provided during lessons.
Learning assessment procedures
The exam is composed by two different tests. A written test to evaluate theoretical skills (multiple option questions and/or open questions) – duration 90 minutes. A second test which consists in the oral discussion of a robotic project: project group realted to the simulation of a robotic process developed in the ROS environment - it requieres to deliver the ROS code and the presentation before the day of oral discussion - duration of the oral presentation 20 minutes.
Evaluation criteria
To pass the exam, students will have to demonstrate that they understand the fundamental mathematical modeling used in industrial robotics - matrix calculus, extrapolation of DH parameters, exercises for direct/inverse kinematics derivation. Furthermore, they must demonstrate knowledge of ROS by answering theoretical questions related to the structure of the environment.
To asses practical skills, students should demonstrate to implement a simulation in the ROS environment using material collected autonomously as well as models and scripts presented during the laboratory lectures.
Criteria for the composition of the final grade
The two tests will be evaluated separately. The final grade is obtained as the arithmetic mean between the two tests - which must have both a positive grade. The evaluation of the oral presentation of the project can provide for the differentiation of the grade between the project participants.
Exam language
Italiano