29 01 20

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Industrial Automation, Communication and Data Management Prof. Cesana, Rocco, Tanca January 29, 2020 name: university ID number: signature: Warnings • This file consists of 10 pages (including cover). • During the exam you are not allowed to exit the room for any other reason than handing your work or withdrawing from the exam. • You are not allowed to withdraw from the exam during the first 30 minutes. • During the exam you are not allowed to consult books or any kind of notes. • You are not allowed to use calculators with graphic display. • Solutions and answers can be given either in English or in Italian . • Solutions and answers must be given exclusively in the reserved space . Only in the case of corrections, or if the space is not sufficient, use the back of the front cover. • The clarity and the order of the answers will be considered in the evaluation. • At the end of the test you have to hand this file only . Every other sheet you may hand will not be taken into consideration. Consider a robot in interaction with a human as in the picture: 1. Explain what collaborative robotics is and why it is considered important for the small and medium enterprises. 2. List the collaborative modes allowed by the safety standards. 3. Consider now the robot in contact with the environment (for example the human). In a simplified analysis, we can represent the situation with a mass-spring-damper system as in the picture: /G4D /G46 /G70 /G4B /G44 Write the equations of the dynamic system that corresponds to the mass-spring-damper system. 4. Derive the expression of the transfer function of the mass-spring-damper system. Explain under what conditions on the parameters the system is stable but not asymptotically stable. 5. The robot exports information towards the backhand via MQTT.…