Instructor: Alessandro De Luca
Course web page: www.diag.uniroma1.it/~deluca/rob2_en.php
Credits: 6
Infostud code: 1021883

Objectives

This course provides tools for advanced kinematics and dynamic analysis of robot manipulators and for the study of feedback control laws in free motion and interaction tasks, including visual servoing. The student will be able to develop dynamic models of robot manipulators, to design control laws for motion and environment interaction tasks, and to verify the robot performance based on simulation tools.

Program

Advanced kinematics for robot manipulators (calibration, redundancy resolution). Derivation and use of the dynamic model of robots (Euler-Lagrange and Newton-Euler formulations), also in the presence of geometric constraints. Inclusion of joint transmission elasticity. Identification of dynamic coefficients. Linear and nonlinear control schemes for set-point regulation (PD with gravity compensation, saturated PID, iterative learning) and for trajectory tracking in free motion (feedback linearization and decoupling, passive control, robust control, adaptive control, both in joint space and in task/Cartesian space, as well as for interaction tasks with the environment (admittance control, compliance control, impedance control, hybrid force/velocity control). Image- and position-based visual servoing (kinematic treatment). Diagnosis of faults of robot actuators and for a class of robot sensors. Sensorless detection of physical collisions. The course requires "Robotics I".

Type of exam: Written test, Oral test, Project

Reference text

• B. Siciliano, L. Villani, G. Oriolo, A. De Luca "Fundamentals of Robotics", Springer, 2025