VSS AND TRAFFIC CONTROL
GROUP
Industrial Robotics Lab
Industrial Robot COMAU-SMART3-S2
The theoretical activity of the group are applied to robotic setups which represents complex systems particularly suitable to assess the validity of our research. Specicfically, experimental validation are performed by using the model of the COMAU SMART3-S2 industrial anthropomorphic rigid robot manipulator present in the Industrial Robotics Lab. The robotic system includes: a control unit, COMAU C3G-900; a manual control and programming terminal, COMAU PTU2; an external data processor in order to emulate the control unit (PC); an external computer for control experiments.
SMART3-S2 robot consists of 6 links and 6 rotational joints driven by brushless (BL) electric motors so that it has got 6 degrees of freedom (DOF). It weighs about 300 kg and its maximum load on the wrist is about 8 kg so that it can be used for several industrial applications
The main activities are devoted to the design of robust control strategies for trajectory tracking and interaction of the system with the environment.
Moreover, cooperative systems are studied in order to make the robotic plant including more than one robot able to execute complex tasks in cooperation with human beings.
Also vision control is applied to the robot in order to develop fault tolerant or collision avoidance based control strategies.
Mini Anthropomorphic Robot
In the Lab also a mini anthropomorphic robot is present.
It has five degrees of freedom so that it is able to move in the space executing complex task.
The main activity are devoted to the identification of the model of the robot in the space so as to make possible the use of the inverse dynamics and other adavanced control approaches.
Moreover, the robot can be use as a service robot in order to help people to execute some complex or ripetitive task. This includes the robot inside the class of the so-called service or entertainement robots.
