Robotics 1
Prof. Alessandro De Luca
Dipartimento di Ingegneria informatica, automatica e gestionale Antonio Ruberti (DIAG)
Sapienza Università di Roma
Via Ariosto 25, 00185 Roma, Italy
office: A-210
tel: +39 06 77274 052
email: deluca [at] diag [dot] uniroma1 [dot] it
Academic year 2018/19 (first semester)
Video recordings of the 30 lectures given in class during the academic year 2014-15 are available in the Robotics 1 playlist of the Video DIAG - Sapienza YouTube channel. Please note that these are traditional lectures with the use of multimedia material, not prepared on purpose for an online offering (differently from MOOC courses).
Course material
Registration to exams
Aims: This course provides the basic tools for the kinematic analysis, trajectory planning, and programming of motion tasks for robot manipulators in industrial and service environments.
Contents: Typical robotic systems are illustrated through examples of manipulators and mobile-base robots in industrial and service applications. The basic functional components of a robot are presented: mechanics for manipulation, actuators, proprio- and exteroceptive sensing devices, control architecture, and programming. Direct, inverse, and differential kinematic models of robot manipulators are analyzed. Trajectory planning methods both in the joint and in the task (Cartesian) space are then explored. Simple control schemes are introduced, including kinematic control for robot arms and decentralized dynamic control for the single axes of a manipulator.
Prerequisites: The course is self-contained and does not need special prerequisites. Still, elementary knowledge of kinematics (as given in an undergraduate Physics course) and some background in Automatic Control are useful. The course is introductory (and mandatory) for the advanced courses Robotics 2 and Autonomous and Mobile Robotics.
Courses of study: M.Sc. in Artificial Intelligence and Robotics (MARR), M.Sc. in Control Engineering (MCER)
ECTS Credits: 6 credits
Exams: written part + oral examination
Lectures
Period: first semester (September-December 2018; about 12 weeks)
Begin: Monday, September 24, 2018
End: Monday, December 17, 2018
Schedule:
| Monday | 08:00-10:00 (room B2, DIAG, Via Ariosto 25) |
| Friday | 10:00-13:00 (room B2; DIAG, Via Ariosto 25) |
Distribution of students according to the course of study:
A.A. 2018/19: 83 MARR (27 international students), 48 MCER (13), 8 Erasmus + 2 Others (all international); Total: 141 students (110 present at first lecture)
A.A. 2017/18: 57 MARR (22 international students), 32 MCER (23), 3 other Sapienza (-), 10 Erasmus (international); Total: 102 students (71 present at first lecture)
A.A. 2016/17: 54 MARR (12 international students), 26 MCER (14), 2 other Sapienza (1), 1 MINR, 9 Erasmus (international); Total: 92 students (71 present at first lecture)
A.A. 2015/16: 46 MARR (13 international students), 24 MCER (12), 2 BIAR, 1 BSIR, 8 Erasmus (international), 1 PhD student; Total: 82 students (62 present at first lecture)
A.A. 2014/15: 21 MARR (6 international students), 40 BIAR (3), 12 MCER (7), 4 MINR (2), 1 BSIR, 1 Physics, 8 Erasmus (international); Total: 87 students (76 present at first lecture)
A.A. 2013/14: 32 MARR (14 international students), 33 BIAR (3), 5 MCER, 4 MELR, 4 BAER (1), 2 MINR (1), 1 BMER, 1 BCLR, 3 Erasmus (international); Total: 85 students (71 present at first lecture)
A.A. 2012/13: 31 MARR (6 international students), 22 BIAR (1), 5 MELR (1), 4 BAER, 3 MINR (1), 8 Erasmus (international), 2 extra, 1 LAUR; Total: 76 students (74 present at first lecture)
A.A. 2011/12: 32 MARR (14 international students), 24 BIAR, 4 MELR (1), 3 MCE (1), 1 MINR (1), 1 BSIR (1); Total: 65 students (54 present at first lecture)
A.A. 2010/11: 28 MARR (6 international students), 12 LAUR/BIAR, 9 MELR, 2 Erasmus (international), 1 MMER; Total: 52 students (44 present at first lecture)
A.A. 2009/10: 19 MARR (2 international students), 4 MINR (2), 1 BIAR; Total: 24 students (24 present at first lecture)
A.A. 2008/09: 6 MINR (3 international students), 2 LAUR; Total: 8 students (4 present at first lecture)
Course material
The textbook for Robotics 1 is:
B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo
"Robotics: Modelling, Planning and Control", 3rd Edition, Springer, 2009
Download the Errata Corrige for this book.
Only selected chapters are part of the course program, but this book is a perfect reference also for further studies. Other course material (PDF of the lecture slides, technical papers, data sheets, videos, texts of exams (with or without solution), exercises) is available in this page (requires Acrobat Reader 7.0 or later).
Registration to exams
Please register to exams via the web site Infostud, using your student ID ("matricola") and password. Choose the course name in the list with the correct number of credits. The same procedure applies also to incoming Erasmus+ and Erasmus Mundus students.
I usually open sessions only for the following exams: Robotics I (code 1023235, 6 credits), Robotica I (code 1027891, 6 credits), Robotics (code 1027894, 6 credits), and Robotica (code 1023234, 6 credits). For any other situation please contact me in advance.
Registrations to exams for the sessions of the academic year 2018/19 are open on Infostud since September 28, 2018:
- I session: written part, January 11, 2019, 9:00, room B2 (registration closes on January 4, 2019)
- II session: written part, February 5, 2019, 9:00, room B2 (registration closes on January 29, 2019)
- First extra session (only for students of previous years): March 27, 2019, 9:00, room A4 (registration closes on March 20, 2019)
- III session: written part, June 6, 2019, 9:00, room B2 (registration closes on May 30, 2019)
- IV session: written part, July 11, 2019, 9:00, room B2 (registration closes on July 4, 2019)
- V session: written part, September 11, 2019, 9:00, room B2 (registration closes on September 4, 2019)
- Second extra session (only for students of previous years): October 14, 2019, 15:00, room tbd (registration closes on October 7, 2019)