Robotics, vision and control (2020/2021)
The teaching is organized as follows:
See the unit page
The course aims to provide the following knowledge: theoretical and application aspects of control algorithms for vision-based robots, with particular focus on camera-robot calibration, reconstruction, planning and movement control.
At the end of the course the student will have to demonstrate that s/he has the following skills to apply the acquired knowledge: ability to choose, integrate and implement calibration algorithms, 3D reconstruction, planning and control for vision-guided robotic systems; demonstrate knowledge of the main tools of (a) camera-robot calibration; (b) use of range sensors; (c) reconstruction of scenes from rooms; (d) vision-based planning and control.
Student must also have the ability to define the technical specifications to select, integrate and design software modules for vision-based robotic systems and be able to deal with professional figures to design vision-based control architectures for complex robotic systems.
Finally, student must have the ability to continue his studies independently to follow the technical evolution in the field of robot control based on vision systems.
Topics that will be addressed during the course:
- motion control of a manipulator
- trajectory planning
- 3D reconstruction of the working area
- camera-robot calibration
- robotic vision-based control
During the lab activity, students will implement the algorithms in ROS/Matlab-Simulink and on real robotic manipulators.
The exam will consist of a project addressing some topics discussed during the course. The student should have to implement in ROS (and/or in Matlab/Simulink) an algorithm, test it, and prepare a brief technical document explaining his/her work.
To pass the exam, the student should:
- have understood the relationship among robotics, vision and control,
- be able to use the knowledge acquired during the course to solve the assigned problem,
- be able to describe their work by explaining and motivating the design choices.
||Robotics, Vision and Control