Course material Robotics 2

  Prepared by Prof. Alessandro De Luca
 

Academic year 2020-21 (second semester)

IMPORTANT. The Robotics 2 course will be taught as usual in the second semester, starting at the end of February 2021. The lecture slides and most of the material present in this page refer to the course of the previous academic year. It will be updated in due time after the end of the first semester 2020/21.

VIDEO LECTURES. Video recordings of the course lectures given (in class or remotely) during the academic year 2019/20 are available in the Robotics 2 playlist of the Video DIAG - Sapienza YouTube channel. There are 37 video lectures for a total of about 52 hours. The set of slides in this page is associated to the recorded lectures. Selected lectures are placed also on my YouTube channel.

Lecture slides (with number of slides and date of the latest version uploaded)
and link to the associated
Video lectures [with duration and date of the recording]

Syllabus_ProgramRob2.pdf 
(June 16, 2020)

00_Introduction.pdf (23 slides; February 26, 2020)  
--->
Video Lecture 01 part 1
[1h41'30"; slides 1-14; 24 Feb 2020] + Video Lecture 01 part 2 [37'42"; slides 15-21 (no 22-23); 26 Feb 2020]

01_Calibration.pdf
(16 slides; February 26
, 2020)     
--->
Video Lecture 02 [1h05'52"; slides 1-16; 26 Feb 2020]

02_KinematicRedundancy_1.pdf
(48 slides; March
4, 2020)  
---> 
Video Lecture 03 [1h37'45"; slides 1-16; 2 Mar 2020] + Video Lecture 04 part 1 [1h11'31"; slides 17-25; 4 Mar 2020]
       + Video Lecture 04 part 2
[1h11'01"; slides 26-41; 4 Mar 2020] + first part of Video Lecture 05 [up to 35'48"; slides 42-48; 9 Mar 2020]

02_KinematicRedundancy_2.pdf
(35 slides; March
5, 2020)   
---> remaining part of Video Lecture 05 [from 35'49", total 1h48'41"; slides 1-12; 9 Mar 2020] + Video Lecture 06 [1h41'43"; slides 13-34 (no 35); 11 Mar 2020]

03_LagrangianDynamics_1.pdf
(28 slides; March
23, 2020)
---> Video Lecture 07 [1h25'42"; slides 1-9; 16 Mar 2020] + Video Lecture 08 part 1 [1h15'34"; slides 10-16; 18 Mar 2020]
       + Video Lecture 08 part 2
[1h34'42"; slides 17-25; 18 Mar 2020] + first part of Video Lecture 09 [up to 32'59"; slides 26-28; 23 Mar 2020]

04_LagrangianDynamics_2.pdf
(14 slides; March 24
, 2020
---> remaining part of Video Lecture 09 [from 33'00", total 1h51'01"; slides 1-14; 23 Mar 2020]

05a_LagrangianDynamics_3.pdf
(31 slides; March 24
, 2020)
---> Video Lecture 10 part 1 [1h28'30"; slides 1-17; 25 Mar 2020] + Video Lecture 10 part 2 [1h33'18"; slides 18-31; 25 Mar 2020]

05b_LinearParametrizationIdentification.pdf (23 slides; March 29, 2020)
---> Video Lecture 11 [1h52'51"; slides 1-23; 30 Mar 2020]

06_NewtonEulerDynamics.pdf
 
(16 slides; March 31, 2020)
---> Video Lecture 12 [1h45'46"; slides 1-16; 1 Apr 2020]

07_IntroControl.pdf
(29 slides; April 19, 2020)
---> Video Lecture 13 part 1 [1h21'53", slides 1-19; 20 Apr 2020] + Video Lecture 13 part 2 [55'42"; slides 20-29; 20 Apr 2020]

08_Regulation.pdf (37 slides; April 24, 2020)
---> Video Lecture 14 part 1 [1h00'00"; slides 1-12; 22 Apr 2020] + Video Lecture 14 part 2 [1h58'16"; slides 13-30; 22 Apr 2020]
       +
Video Lecture 14 part 3 [27'32"; slides 31-37; 22 Apr 2020]
 

09_IterativeLearning.pdf 
(16 slides; April 26, 2020)
---> Video Lecture 15 part 1 [48'48''; slides 1-16; 27 Apr 2020]

10_TrajectoryControl.pdf (26 slides; April 27, 2020)
--->
Video Lecture 15 part 2 [1h01'20''; slides 1-11; 27 Apr 2020] + Video Lecture 16 part 1 [1h18'56''; slides 12-26, 29 Apr 2020]

11_RobustControl.pdf (24 slides; April 30, 2010) NOT in program in 2019/20 (for personal reading)

12_AdaptiveControl.pdf (22 slides; April 27, 2020)
---> Video Lecture 16 part 2 [1h01'18''; slides 1-19; 29 Apr 2020]

13_CartesianControl.pdf 
(13 slides; May 3, 2020)
---> Video Lecture 17 [49'54"; slides 1-13; 4 May 2020]

14_EnvironmentInteraction.pdf (44 slides; May 2, 2020)
---> Video Lecture 18 part 1 [1h15'47"; slides 1-23; 4 May 2020] + Video Lecture 18 part 2 [2h03'06"; slides 24-44; 6 May 2020]

15_ImpedanceControl.pdf (17 slides; May 10, 2020)
--->
Video Lecture 19 [1h13'27"; slides 1-17; 6 May 2020]

16_HybridControl.pdf (33 slides; May 11, 2020)
---> Video Lecture 20 part 1 [1h45'33"; slides 1-17; 11 May 2020] + Video Lecture 20 part 2 [1h13'48''; slides 18-32; 11 May 2020]

17_VisualServoing.pdf (53 slides; May 12, 2020)
---> Video Lecture 21 [2h08'52"; slides 1-53; 15 May 2020; presented by Prof. Marilena Vendittelli]

18_ActuationFaults.pdf (29 slides; May 16, 2020)
---> Video Lecture 22 [2h18'56''; slides 1-29; 18 May 2020]

19_CollisionDetectionReaction.pdf (48 slides; May 20, 2020)
---> Video Lecture 23 part 1 [1h56'37"; slides 1-33; 20 May 2020] + Video Lecture 23 part 2 [42'11"; slides 34-48; 20 May 2020]

20_HR_CoexistenceCollaboration.pdf 
(75 slides; June 2, 2020)
---> Video Lecture 24 part 1 [1h50'24''; slides 1-38; 25 May 2020] + Video Lecture 24 part 2 [1h43'27''; slides 39-75; 25 May 2020]

Videos (shown during the lectures)


Syllabus_VideoRob2.pdf 
(June 16, 2020)

00_Rob2_Videos.zip
01_Rob2_Videos.zip
02_1_Rob2_Videos.zip
02_2_Rob2_Videos.zip
05_Rob2_Videos.zip 
07_Rob2_Videos.zip
09_Rob2_Videos.zip
14_Rob2_Videos.zip
16_Rob2_Videos.zip
17_Rob2_Videos.zip
18_Rob2_Videos.zip
19_Rob2_Videos.zip
20a_Rob2_Videos.zip
20b_Rob2_Videos.zip

Other material

PIDsaturated_Kelly.pdf (February 23, 2009)
AdaptivePDgravity_Tomei.pdf (May 10, 2009)
ForceControl_EppingerSeering.pdf (February 23, 2009)
TorqueFeedIndRob_VerdonckSwevers.pdf (May 25, 2009)

Complementary material

Dynamic symbolic model 1R robot with elastic joint
(requires Matlab with Symbolic Toolbox, March 23, 2010)
Dynamic symbolic model PR robot (requires Matlab with Symbolic Toolbox, March 23, 2010)
Identification 1R robot (Matlab, May 1, 2018, by Claudio Gaz)

The following complementary (not treated) material is still available in the old FTP site
Robotica II:

LocomozioneBipede.pdf (last update 2004)
LocomozioneQuadrupede.pdf (last update 2004)
sim_2R_FL_control (folder with Simulink/Matlab files for the simulation of a nonlinear controller, 2007)

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

Syllabus_WrittenExamsRob2.pdf (September 19, 2020)

Robotics2_20.09.11.pdf (with solution)
Robotics2_20.07.15.pdf (with solution)
Robotics2_20.06.05.pdf (with solution)
Robotics2_Remote_Midterm Test_2019-20_20.04.15.pdf (with solution)
Robotics2_20.02.12.pdf
Robotics2_20.01.07.pdf
Robotics2_19.09.11.pdf (with solution)
Robotics2_19.07.11.pdf (with solution)
Robotics2_19.06.17.pdf [ExtraSheet] (with solution)
Robotics2_Midterm_Test_2018-19_19.04.29.pdf (with solution)
Robotics2_18.07.11.pdf (with solution)
Robotics2_18.06.11.pdf (with solution)
Robotics2_Midterm_Test_2017-18_18.04.26.pdf (with solution)
Robotics2_18.03.27.pdf (with solution)
Robotics2_18.02.05.pdf (with solution)
Robotics2_18.01.11.pdf (with solution)
Robotics2_17.10.27.pdf 
Robotics2_17.09.21.pdf (with solution)
Robotics2_17.07.11.pdf (with solution)
Robotics2_17.06.06.pdf (with solution)
Robotics2_Final_Test_2016-17_17.05.29.pdf (with solution)
Robotics2_Midterm_Test_2016-17_17.03.29.pdf (with solution)
Robotics2_17.01.11.pdf
Robotics2_16.10.28.pdf (with solution)
Robotics2_16.09.12.pdf (with solution)
Robotics2_16.07.11.pdf (with solution)
Robotics2_16.06.06.pdf (with solution)
Robotics2_Final_Test_2015-16_16.06.01.pdf (with solution)
Robotics2_Midterm_Test_2015-16_16.04.13.pdf (with solution)
Robotics2_15.04.01.pdf
Robotics2_14.10.27.pdf (with solution)
Robotics2_14.09.22.pdf
Robotics2_14.07.15.pdf
Robotics2_14.06.10.pdf
Robotics2_14.04.02.pdf
Robotics2_13.09.19.pdf 
Robotics2_13.07.15.pdf (with solution)
Robotics2_13.06.10.pdf 
Robotics2_13.02.06.pdf (with solution)
Robotics2_13.01.09.pdf (with solution)
Robotics2_12.07.05.pdf (with solution)
Robotics2_12.06.11.pdf (with solution)
Robotics2_11.09.12.pdf (with solution)
Robotics2_11.07.04.pdf 
Robotics2_11.06.17.pdf (with solution)
Robotics2_10.09.15.pdf (with solution)
Robotics2_10.07.07.pdf (with solution)
Robotics2_10.06.15.pdf (with solution)
Note: The material below this point is only in Italian, sorry!
Robotica2_09.09.10.pdf (with solution)
Robotica2_09.07.10.pdf (with solution)
Robotica2_09.06.10.pdf (with solution)
Robotica2_08.09.11.pdf (with solution sketch)
Robotica2_08.03.20.pdf 
Robotica2_07.09.13.pdf 
Robotica2_07.04.19.pdf (with solution)
Robotica2_07.03.23.pdf
Robotica2_06.09.11.pdf
Robotica2_06.07.13.pdf
Robotica2_06.06.30.pdf
(
with solution sketch)
Robotica2_05.09.22.pdf 
Robotica2_05.04.14.pdf 
Robotica2_05.04.05.pdf (with solution)
Robotica2_04.04.06.pdf (
with solution)
Robotica2_04.03.25.pdf (with solution)
-----
Autovalutazione_97.pdf
(with solution)
Regolazione2R_95.pdf
DinamicaRPR_93.pdf
ContrCedevolezza_92.pdf
DinamicaPRelas_91.pdf
(with solution)
LinearApproxTraiett_91.pdf
(with solution)
DisaccLinear2R_91.pdf
DinamicaLinAppPR_90.pdf
StaticaCoop3R2R_90.pdf

DinamicaTraiett2R_90.pdf (with solution)
DinamicaPolar2R_90.pdf
DinamicaAdaptRP_89.pdf

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