LARLAR

Laboratory of Automation and RoboticsLaboratory of Automation and Robotics

DEIS DEIS UniversitUniversitàà didi BolognaBologna

http://www-lar.deis.unibo.it

Claudio Melchiorri Claudio Melchiorri

OutlineOutline

1. DEIS / LAR

2. Main equipment

3. Overview on research activities

4. Main projects

University of BolognaUniversity of Bologna

Bologna

Castellon

The University of BolognaThe University of Bologna

• Reputed as the oldest University in the Western Society (1088: more than 9 centuries of history)

• Among other facts: Signature of “Magna Charta” in 1999

The University of BolognaThe University of Bologna• IFAC Symposium on Robot Control: SYROCO 2006

Sept. 6-8 2006, Bologna, Italy -- http://www.syroco2006.deis.unibo.it

Submission of Contributions:October 15, 2005

The University of BolognaThe University of Bologna

II Euron/Geoplex Summer School on Modelling and Control of

Complex Dynamical Systems18-22 July 2005, Residential Center,

University of Bologna, Bertinoro, Italyhttp://www-lar.deis.unibo.it/euron-geoplex-sumsch/

Registrations areOPEN !!!

DEISDEIS

• DEIS:Dept. of Electronics, Computer Science, and Systems

• About 250 persons (Professors, Researchers, Technicians, Post-Doc, PhD. Students)

• Main research areas:– Automatic Control– Bioengineering– Computer Science– Electronics– Operational Research– Telecommunications

LAR LAR –– Laboratory of Automation and RoboticsLaboratory of Automation and Robotics

LAR is active at DEIS since the mid of the ’80s.

Research activity in • advanced robotics• industrial automation

Detailed descrition of people, equipment, research, other activities available at:

http://www-lar.deis.unibo.ithttp://www.casy.deis.unibo.it

Staff (2005)Staff (2005)

• Full Professors• Claudio Bonivento• Claudio Melchiorri• Alberto Tonielli

• Associate Professors• Lorenzo Marconi• Carlo Rossi

• Research Associates• Alessandro Macchelli• Andrea Tilli

PostDocs, Ph.D Students

Dr. Luigi BiagiottiIng. Gianni BorghesanIng. Marta CapiluppiIng. Raffaella CarloniIng. Alessandro CaviniIng. Nicola DiolaitiDr. Luca GentiliIng. Gianluca LucenteDr. Marcello MontanariIng. Roberto NaldiIng. Gianluca PalliDr. Andrea Paoli Ing. Manuel Spera

Interdisciplinary activitiesInterdisciplinary activities

• DIEM: Mech. Dept. • Gabriele Vassura

• DM: Dept. of Math.• Massimo Ferri• Fiorella Sgallari

• Computer Science• Eugenio Faldella

• Artificial Vision• Luigi Di Stefano

GoalsGoals

• Research

• Technology transfer (cooperation with industries)

• Support to teaching activities

Main equipmentMain equipment

• Industrial Robots (open control)• COMAU Smart 3s• PUMA 560

• Mobile Robot Pioner II DX

• Haptic Interfaces (Phantom)

Main equipmentMain equipment• Industrial electric drives

• ELAU, SIEMENS, ALLEN BRADLEY, ….

• Electric motors test sets

• Teaching Setups• Flexible link, inverse pendulum ….

• Car engines

• Standard lab equipment

• Workshop

Research activity Research activity -- MethodologicalMethodological

• Robotics• Control • Time-delay systems• (Tele)manipulation• Passivity-based control

• Motion Control• Nonlinear control• Simulation tools• Trajectory planning

• Port Hamiltonian Systems• Infinite-Dimensional Systems

• Automotive• Modelling and Control• Simulation tools• Function bypass

• Non linear Control• Robust stabilization• Output regulation• Saturation function• VSS

• FDI / FTC

Research activity Research activity -- ExperimentalExperimental

• Robotics• Dexterous hands• Telemanipulation• Haptic devices• Space Robotics

• Motion Control• Control of electric drives• Hw/Sw platforms• Fast prototyping

• Port Hamiltonian Systems• Flexible structures

• Automotive• Engines and driveline• Camless engine• Automated gearboxes

• Non linear Control• UAV control

• FDI / FTC• Electrical machines• Implicit reconfiguration• Internal model of fault

Research activity in roboticsResearch activity in robotics

Methodological Experimental

Control

Time delay systems

Telemanipulation

Passivity based control

Control algorithm implementation

Prototyping• Dexterous hands

• Telemanipulation

• Haptic interfaces

• Space Robotics

Main research activities Main research activities –– ManipulationManipulation

UB Hand I (1986 – 1988)UB Hand II (1992 – 1994)UB Hand III (2002 – ...)

•••

Main research activities Main research activities –– UB Hand IIUB Hand II

Fingers – 12 dofhole Hand Manipulationtructural Integration

Motors

• 3• W• S

with arm

Intrinsic Tactile Sensors

Main research activities Main research activities –– ASI GripperASI Gripper

Gripper for space applications3 parallel fingers, 1 dof each

Sensors:• Position

• Proximity

• Intrinsic tactile

Main research activities Main research activities –– UB Hand IIIUB Hand III

• Endoskeleton structure, made of as few pieces as possible (plastic) based on the concept of compliant mechanism

• Motion transmission by “tendons”• Visco-elastic covering material (gel)

Main research activities Main research activities –– UB Hand IIIUB Hand III

• Endoskeleton structure, made of as few pieces as possible (plastic) based on the concept of compliant mechanism

• Motion transmission by “tendons”• Visco-elastic covering material (gel)

Main research activities Main research activities –– Sensors for roboticsSensors for robotics

• Intrinsic Tactile Sensors• Tactile Sensors• New stress sensor

Main research activities Main research activities –– Sensors for roboticsSensors for robotics

• Intrinsic Tactile Sensors• Tactile Sensors• New stress sensor

Row wires

Column wires rubber

taxel tactile image

Main research activities Main research activities –– Sensors for roboticsSensors for robotics

Shear StressFilm sottile in silicio amorfo

depositato direttamente

• Intrinsic Tactile Sensors• Tactile Sensors• New stress sensor

Main research activities Main research activities –– HapticsHaptics

• VIDET (Visual Decoder by Touch)

Video cameras

Virtual objectReal object

Haptic Interfacebased on wires

Main research activities Main research activities –– HapticsHaptics

• VIDET (Visual Decoder by Touch)

Video cameras

Virtual objectReal object

Haptic Interfacebased on wires

1-wire prototype

Main research activities Main research activities –– RealReal--Time ControlTime Control

• FastProt (scheda DSP general purpose)• RTAI – Linux (Pc standard)

Motion ControlIndustrial Robots (SMART-3S)

• Rapid prototyping

• User interface

• Simple integration with other systems (es. TCP\IP)

Main research activities Main research activities –– RTAIRTAI--LinuxLinux

Integration of:• ASI Gripper• COMAU SMART 3S• Vision systems

C3G-9000/SMART 3-S

A.S.I. Gripper

Vision System

Robot

TCP/IP network

Main research activities Main research activities –– RTAIRTAI--LinuxLinux

C3G-9000/SMART 3-S

Control

Safety

Communication

Kernel space

Virtual Teach-Pendant

User space

Mouse Interface

RTMon

Vision System Client

Joystick

FIFOs

CollaborationsCollaborations

• Institutions• University of Twente• Michigan University• Katholieke Univ. Leuven• DLR• Stanford University• ASI• ESA• Univ. Jaume I• UPC, Barcelona• …

• Aziende• Ferrari• Siemens• GD, TMC, …• Magneti Marelli• ELAU• Galileo Avionica,• Alenia Spazio, • …