First cycle
degree courses
Second cycle
degree courses
Single cycle
degree courses
School of Engineering
AEROSPACE ENGINEERING
Course unit
SPACE ROBOTICS
IN02123593, A.A. 2017/18

Information concerning the students who enrolled in A.Y. 2016/17

Information on the course unit
Degree course Second cycle degree in
AEROSPACE ENGINEERING
IN0526, Degree course structure A.Y. 2014/15, A.Y. 2017/18
N0
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Number of ECTS credits allocated 9.0
Type of assessment Mark
Course unit English denomination SPACE ROBOTICS
Website of the academic structure http://ias.dii.unipd.it/ingegneria-aerospaziale-magistrale/
Department of reference Department of Industrial Engineering
Mandatory attendance No
Language of instruction Italian
Branch PADOVA
Single Course unit The Course unit can be attended under the option Single Course unit attendance
Optional Course unit The Course unit can be chosen as Optional Course unit

Lecturers
Teacher in charge STEFANO DEBEI ING-IND/12

ECTS: details
Type Scientific-Disciplinary Sector Credits allocated
Core courses ING-IND/05 Aerospace Systems 9.0

Course unit organization
Period First semester
Year 2nd Year
Teaching method frontal

Type of hours Credits Teaching
hours
Hours of
Individual study
Shifts
Lecture 9.0 72 153.0 No turn

Calendar
Start of activities 25/09/2017
End of activities 19/01/2018

Examination board
Board From To Members of the board
10 a.a. 2017/18 01/10/2017 30/11/2018 DEBEI STEFANO (Presidente)
PERTILE MARCO (Membro Effettivo)
LORENZINI ENRICO (Supplente)
9 a.a. 2016/17 01/10/2016 30/11/2017 DEBEI STEFANO (Presidente)
PERTILE MARCO (Membro Effettivo)
LORENZINI ENRICO (Supplente)

Syllabus
Prerequisites: Applied Mechanics, Mechanical and Thermal Measurement
Target skills and knowledge: Instruments for the analysis and design of robotic systems for spatial manipulation and handling of structures and instruments for the maintenance of satellites in orbit and planetary exploration.
Examination methods: Oral test and practical test consisting of a Team project
Assessment criteria: Verification of knowledge acquired, verification of the ability to use knowledge to design and plan a space robot. Rating: average of the two tests provided (oral and eam project)
Course unit contents: General references on the dynamics of the robot : Definitions. Direct and inverse kinematic analysis of mechanisms. Transformation matrices . Jacobian of a manipulator and its utilization . Direct and inverse dynamic analysis . Pointing and tracking systems . Holonomic and non- holonomic . Bullets on the foundations of automatic controls . Introduction to analog and digital control . Stability, compensation . Applications to the control of servomanipolatori . Adaptive control , introduction and applications. Calibration techniques . Sensors for space robotics . Description of orbital and planetary space environments , problems related to the " planetary protection" . Acquisition systems and data conversion . Internal sensors : position and momentum absolute and relative measures of force, torque and deformation. Robot in the free base . Sensors navigation systems for planetary robots ( passive and active vision systems , localization, SLAM Simultaneous Localization And Mapping ) . Maintenance of Robots in Orbit . ORU ( Orbital Replaceable Units ) configuration and standardization, accessibility requirements of mechanical interfaces and electronic systems, coupling / uncoupling . Cooperative control integration between holonomic and non- holonomic systems : autonomous vehicles for space exploration . Work in cooperative robots .
Planned learning activities and teaching methods: The course consists of 60 hours of lectures and with the help of audiovisual, 8 hours experimental applications 6 hours of laboratory assisted
Additional notes about suggested reading: Notes form the Lectures and slides.
books:
- R. D.Klafter et al., “Robot Engineering”, PrenticeHallInt. Ed.
- G. Marro, "controlli automatici", Zanichelli
- John J. Craig, "Introduction to Robotics, Mechanics and Control", Addison Wesley Longman
- L.Sciavicco, B. Siciliano, Robotica Industriale, McGraw-Hill Italia
Textbooks (and optional supplementary readings)
  • A. Ellery, An Introduction to Space Robotics. --: Springer-Praxis, --. Cerca nel catalogo