Alessandro De Luca

Robotics 2

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 (second semester)

Course material
Registration to exams

Aims: This course provides tools for: Advanced kinematics and dynamic analysis of robot manipulators; Design of feedback control laws for free motion and interaction tasks, including visual servoing.

Contents: Advanced kinematics for robot manipulators (calibration, redundancy resolution). Derivation and use of the dynamic model of robots (Euler-Lagrange and Newton-Euler formulations). Identification of dynamic coefficients. Inclusion of joint transmission elasticity. Linear and nonlinear control schemes for set-point regulation (PD with gravity compensation, saturated PID, iterative learning) and for trajectory tracking (feedback linearization and decoupling, passive control, robust control, adaptive control) in free motion tasks, as well as for interaction tasks with the environment (compliance control, impedance control, hybrid force/velocity control). Image- and position-based visual servoing (kinematic treatment). Special topics will be presented in a seminarial way: diagnosis of robot actuator faults; detection of physical collisions and safe reaction.

Prerequisites: The course requires Robotics 1 (or its former italian version Robotica 1).

Courses of study: M.Sc. in Control Engineering (MCER), M.Sc. in Artificial Intelligence and Robotics (MARR)

ECTS Credits: 6 credits

Exams: written part + oral examination (in alternative, preparation of a project after passing a classroom test)


Period: second semester (February-May 2019: about 12 weeks)
Begin: Monday, February 25, 2019 (skip then to Monday, March 4, 2019 --see my official travel dates)
End: Monday, June 3, 2019


Monday 08:00-10:00 (room B2; DIAG, Via Ariosto 25)
Wednesday 14:00-17:00 (room B2; DIAG, Via Ariosto 25)

Distribution of students according to the course of study:

A.A. 2018/19: 82 MARR (25 international students), 44 MCER (9), 3 Other (1); Total: 129 students (102 present at first lecture)
A.A. 2017/18: 59 MARR (20 international students), 28 MCER (18), 3 Other (1), 1 Erasmus (international); Total: 91 students (78 present at first lecture)
A.A. 2016/17: 66 MARR (12 international students), 26 MCER (14), 1 PhD, 1 BIAR, 1 Other (1); Total: 95 students (75 present at first lecture)
A.A. 2015/16: 52 MARR (10 international students), 28 MCER (6), 2 BIAR (1); Total: 82 students (65 present at first lecture)
A.A. 2014/15: 16 MCER (4 international students), 14 MARR (2), 2 Erasmus (international); Total: 32 students (29 present at first lecture)
A.A. 2013/14: 36 MARR (15 international students), 9 MCER, 5 Erasmus (international), 2 MELR; Total: 52 students (26 present at first lecture)
A.A. 2012/13: 44 MARR (8 international students), 4 MELR (1), 4 Erasmus (international), 2 PhD, 1 MSIR; Total: 55 students (48 present at first lecture)
A.A. 2011/12: 30 MARR (10 international students), 8 MSIR, 4 MELR (1 international student) + 2 LSER, 1 LAUR, 1 MMER; Total: 46 students (36 present at first lecture)
A.A. 2010/11: 29 MARR (8 international students), 16 MSIR, 10 MELR (1 international student), 1 MMER; Total: 56 students (39 present at first lecture)
A.A. 2009/10: 22 MARR (5 international students), 7 MSIR, 6 SELR, 3 SSIR, 2 MINR, 1 SMER (international student), 1 PhD Aero; Total: 42 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 2 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 open sessions only for the exam of Robotics II (code 1021883, 6 credits). For past versions (e.g., Robotica II (code 1022120, 6 credits)) and 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:

Last update: April 18, 2019