Course material Robotics 1

  Prepared by Prof. Alessandro De Luca
 

Academic year 2020/21 (first semester)

VIDEO LECTURES. Video recordings of the lectures given in class during the academic year 2014/15 are available in the Robotics 1 playlist of the Video DIAG - Sapienza YouTube channel. There are 30 video lectures for a total of about 40 hours. The original slides and the videos associated to these recorded lectures have been permanently stored here. These videos received so far more than 70K independent views (as of September 2020).

Lecture slides
(with date of the latest version uploaded)


Syllabus_TextbookReferencesRob1.pdf
(December 23, 2020)

00_Introduction.pdf (October 5, 2020)
01_IndustrialRobots.pdf (October 13, 2020)
02_ServiceRobots.pdf (October 15, 2017)
03_CompsActuators.pdf (October 18, 2020)
04_CompsSensorsProprio.pdf (November 22, 2019)
05_CompsSensorsExtero_2020-21.pdf (December 2, 2020)
    [for former programs, the full version is
05_CompsSensorsExtero_2019-20.pdf (November 26, 2019)]
06_ProgrammingArchitectures.pdf (November 17, 2014)
07_PositionOrientation.pdf (October 30, 2020)
08_EulerRPYHomogeneous.pdf (November 6, 2020)
09_DirectKinematics.pdf  (November 10, 2020)
     + Symbolic Matlab file dirkin_SCARA.m (November 5, 2012)
     + Exercise of DH assignment and more 09_Exercise_DH_KukaLWR4.pdf (November 16, 2015)
10_InverseKinematics.pdf (November 17, 2020)
11_DifferentialKinematics.pdf (November 27, 2020)
    + Analysis in Matlab of subspaces of a Jacobian matrix subspaces_3Rplanar.m (December 3, 2018)
12_InverseDiffKinStatics.pdf (December 2, 2020)
13_TrajectoryPlanningJoints.pdf (January 29, 2021)
    + 13_TrajectoryPlanningJoints_plus.pdf (January 29, 2021), including 4 extra slides (from block 06_Programming)
14_TrajectoryPlanningCartesian.pdf (January 27, 2021)
15_KinematicControl.pdf (December 23, 2020)
    + 15_KinematicControl_plus.pdf (December 23, 2020), including 2 extra slides (one from block 06_Programming, one from HRC Robotics 2)
16_DynamicControlSingleAxis.pdf (December
16, 2014)

Videos (shown during the lectures)

Syllabus_VideoRob1.pdf (with approx file sizes: October 5, 2020)

00a_Rob1_Video.zip 
00b_Rob1_Video.zip
00c_Rob1_Video.zip
00d_Rob1_Video.zip 
01a_Rob1_Video.zip 
01b_Rob1_Video.zip
01c_Rob1_Video.zip
01d_Rob1_Video.zip
01e_Rob1_Video.zip
02a_Rob1_Video.zip
02b_Rob1_Video.zip
02c_Rob1_Video.zip
03_Rob1_Video.zip 
04_Rob1_Video.zip
05a_Rob1_Video.zip
05b_Rob1_Video.zip
05c_Rob1_Video.zip
06_Rob1_Video.zip
09_Rob1_Video.zip
09ex_Rob1_Video.zip
10_Rob1_Video.zip
13_Rob1_Video.zip
14_Rob1_Video.zip
15_Rob1_Video.zip

Other material

2020_WorldRobotics_Presentation_Industrial&Service.pdf (October 5, 2020
2020_WorldRobotics_ExecSummary_Service.pdf (October 5, 2020
2020_WorldRobotics_ExecSummary_Industrial.pdf (October 5, 2020)
2019_WorldRobotics_Presentation_Industrial&Service.pdf (November 22, 2019
2019_WorldRobotics_ExecSummary_Service.pdf (November 22, 2019
2019_WorldRobotics_ExecSummary_Industrial.pdf (November 22, 2019)
2018_WorldRobotics_Presentation_Industrial&Service.pdf (November 6, 2018
2018_WorldRobotics_ExecSummary_Service.pdf (November 6, 2018
2018_WorldRobotics_ExecSummary_Industrial.pdf (November 6, 2018)
2017_WorldRobotics_ExecSummary_Service.pdf (October 15, 2017
2017_WorldRobotics_Presentation_Service.pdf (October 15, 2017
2017_WorldRobotics_ExecSummary_Industrial.pdf (October 8, 2017
2017_WorldRobotics_Presentation_Industrial.pdf (October 8, 2017
2016_WorldRobotics_ExecSummary_Service.pdf (October 16, 2016)
2016_WorldRobotics_PressCharts_Service.pdf (October 16, 2016)
2016_WorldRobotics_ExecSummary_Industrial.pdf (October 3, 2016)
2016_WorldRobotics_PressCharts_Industrial.pdf (October 3, 2016)
2015_WorldRobotics_ExecSummary.pdf (October 15, 2015)
2014_WorldRobotics_ExecSummary.pdf (October 4, 2014)
2013_WorldRobotics_ExecSummary.pdf (September 30, 2013)
2012_WorldRobotics_ExecSummary.pdf (October 1, 2012)
2011_WorldRobotics_ExecSummary.pdf (October 7, 2011)
2010_WorldRobotics_ExecSummary.pdf (October 20, 2010)
2009_WorldRobotics_ExecSummary.pdf (October 4, 2009)
2008_WorldRobotics_PressCharts.pdf (October 8, 2008)
2007_WorldRobotics_ExecSummary.pdf (October 8, 2008)

Data_ABB-IRB6400.pdf (October 16, 2008)
Data_COMAU-SmartS2.pdf
(October 16, 2008)
Data_Fanuc-2000i.pdf (October 16, 2008)
Product_ABB-IRB6400PE.pdf (October 16, 2008)
Product_Bosch-SR6SR8.pdf (October 16, 2008)

Article_PaulShimanoMayer_KinInvPuma600_TSMC81.pdf (November 17, 2020)
Article_ManseurDoty_FastInvKin6R_IJRR88.pdf (November 17, 2020)

Robotics1_Homework1_11-12.pdf [on COMAU Smart5 NJ4 robot] (December 6, 2011)
Robotics1_Homework2_10-11.pdf (January 31, 2011)
Robotics1_Homework1_10-11.pdf [on KUKA KR5 robot] (November 29, 2010)

Texts of written exams (_yy.mm.dd) and archive of old exercises (_yy)

Syllabus_WrittenExamsRob1.pdf (February 14, 2021)

Robotics1_21.02.04.pdf (with solution)
Robotics1_21.01.12.pdf (with solution)
Robotics1_Midterm Test_2020-21_20.11.20.pdf (with solution)
Robotics1_20.10.27.pdf
Robotics1_20.09.11.pdf (with solution)
Robotics1_20.07.15.pdf (with solution)
Robotics1_20.06.05.pdf (with solution)
Robotics1_20.02.12.pdf [ExtraSheet#1] [ExtraSheet#2] (with solution)
Robotics1_20.01.07.pdf [ExtraSheet#1] [ExtraSheet#2] (with solution)
Robotics1_Midterm_Test_2019-20_19.11.29.pdf [ExtraSheet#1] [ExtraSheet#2] (with solution)
Robotics1_19.09.11.pdf (with solution)
Robotics1_19.07.11.pdf (with solution)
Robotics1_19.06.17.pdf [DataSheet] [ExtraSheet] (with solution)
Robotics1_19.02.05.pdf [ExtraSheet] (with solution)
Robotics1_19.01.11.pdf [ExtraSheet] (with solution)
Robotics1_Midterm_Test_2018-19_18.11.16.pdf [ExtraSheet] (with solution)
Robotics1_18.07.11.pdf (with solution)
Robotics1_18.06.11.pdf (with solution)
Robotics1_18.03.27.pdf [ExtraSheet#1] [ExtraSheet#2] (with solution)
Robotics1_18.02.05.pdf [ExtraSheet#1] [ExtraSheet#2] (with solution)
Robotics1_18.01.11.pdf [ExtraSheet#1] [ExtraSheet#2] (with solution)
Robotics1_Midterm_Test_2017-18_17.11.24.pdf [ExtraSheet] (with solution)
Robotics1_17.10.27.pdf [ExtraSheet]
Robotics1_17.09.21.pdf (with solution)
Robotics1_17.07.11.pdf (with solution)
Robotics1_17.06.06.pdf (with solution)
Robotics1_17.04.11.pdf (with solution)
Robotics1_17.02.03.pdf (with solution)
Robotics1_17.01.11.pdf (with solution)
Robotics1_Midterm_Test_2016-17_16.11.18.pdf [ExtraSheet] (with solution)
Robotics1_16.10.28.pdf (with solution)
Robotics1_16.09.12.pdf (with solution)
Robotics1_16.07.11.pdf (with solution)
Robotics1_16.06.06.pdf (with solution)
Robotics1_16.04.01.pdf (with solution)
Robotics1_16.02.04.pdf (with solution)
Robotics1_16.01.11.pdf (with solution)
Robotics1_15.10.27.pdf (with solution)
Robotics1_15.09.11.pdf (with solution)
Robotics1_15.07.10.pdf
Robotics1_15.06.05.pdf
Robotics1_15.04.01.pdf
Robotics1_15.02.06.pdf (with solution; with a longer solution)
Robotics1_15.01.09.pdf (with solution)
Robotics1_Test_14.11.21.pdf (with solution)
Robotics1_14.10.27.pdf (with solution)
Robotics1_14.09.22.pdf
Robotics1_14.07.15.pdf
Robotics1_14.06.10.pdf [ExtraSheet] (with solution)
Robotics1_14.04.02.pdf
Robotics1_14.02.06.pdf (with solution)
Robotics1_14.01.09.pdf (with solution)
Robotics1_Test_13.11.29.pdf (with solution)
Robotics1_13.09.19.pdf
Robotics1_13.07.15.pdf
Robotics1_13.06.10.pdf 
Robotics1_13.02.06.pdf (with solution)
Robotics1_13.01.09.pdf (with solution)
Robotics1_12.09.10.pdf (with solution)
Robotics1_12.07.05.pdf (with solution)
Robotics1_12.06.11.pdf (with solution)
Robotics1_12.04.26.pdf (with solution)
Robotics1_12.02.09.pdf (with solution)
Robotics1_12.01.11.pdf (with solution)
Robotics1_11.09.12.pdf (with solution)
Robotics1_11.07.04.pdf (with solution)
Robotics1_11.06.17.pdf (with solution)
Robotics1_11.02.25.pdf (with solution)
Robotics1_11.02.03.pdf (with solution)
Robotics1_10.09.15.pdf (with solution)
Robotics1_10.07.07.pdf (with solution)
Robotics1_10.06.15.pdf (with solution)
Robotics1_10.02.11.pdf (with solution)
Robotics1_A_10.01.12.pdf (with solution)
Robotics1_B_10.01.12.pdf (with solution)
Robotics1_Test2_09.12.17.pdf (with solution)
Robotics1_Test_09.11.10.pdf (with solution)
Robotics1_09.09.10.pdf (with solution)
Robotics1_09.07.10.pdf (with solution)
Robotics1_09.06.10.pdf (with solution)

Note: The material below this point is only in Italian, sorry!

Robotica1_09.02.09.pdf (with solution)
Robotica1_09.01.08.pdf (with solution)
Robotica1_08.09.11.pdf (with solution)
Robotica1_08.07.02.pdf (with solution)
Robotica1_08.03.20.pdf
Robotica1_08.01.07.pdf
(with solution)
Robotica1_07.12.03.pdf (with solution)
Robotica1_07.09.13.pdf
Robotica1_07.06.28.pdf
Robotica1_07.03.23.pdf
Robotica1_07.01.08.pdf
(with solution)
Robotica1_06.12.04.pdf (with solution)
Robotica1_06.09.11.pdf
Robotica1_06.07.13.pdf
Robotica1_06.06.30.pdf
Robotica1_06.04.03.pdf
 (with solution)
Robotica1_06.01.09.pdf (with solution)
Robotica1_05.12.16.pdf (with solution)
Robotica1_05.09.22.pdf
Robotica1_05.04.05.pdf
(with solution)
Robotica1_05.01.12.pdf (with solution)
Robotica1_04.12.16.pdf (with solution)
Robotica1_04.04.06.pdf (with solution)
Robotica1_04.03.25.pdf (with solution)
Robotica1_04.01.08.pdf (with solution)
Robotica1_03.12.11.pdf (with solution)

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CinematicaSCARA_03.pdf
Autovalutazione_98.pdf
Autovalutazione_95.pdf
CinInversaRPR_93.pdf
CinematicaRPR_92.pdf
CinematicaMIMO_92.pdf

CinDiffInvRRR_92.pdf (with solution)
Pianificazione_91.pdf (with solution)
CinStatManip_91.pdf
Pianificazione_90.pdf
CinStatRRRoff_89.pdf
Quiz_88.pdf

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