Course material Robotics 2

  Prepared by Prof. Alessandro De Luca
 

Academic year 2019-20 (second semester)

The course lectures given in class during the academic year 2019/20 will be video recorded, starting from February 24, 2020. Videos are available within 24-48h after each lecture in the Robotics 2 playlist of
the Video DIAG - Sapienza YouTube channel. The set of slides associated to the recorded lectures will be stored separately for future reference.

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 in the classroom]

Syllabus_ProgramRob2.pdf 
(May 23, 2018)

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 [about 1h52'51"; slides 1-23; 30 Mar 2020]

06_NewtonEulerDynamics.pdf
 
(16 slides; March 31, 2020)
---> Video Lecture 12 [about 1h50'; slides 1-16; to be recorded on 1 Apr 2020]

07_IntroControl.pdf
(April 8, 2019)
08_Regulation.pdf 
(April 23, 2019)
09_IterativeLearning.pdf 
(May 6, 2019)
10_TrajectoryControl.pdf 
(May 7, 2019)
11_RobustControl.pdf (April 30, 2010) NOT in program (for personal reading)
12_AdaptiveControl.pdf (May 24, 2013)
13_CartesianControl.pdf 
(May 11, 2016)

14_EnvironmentInteraction.pdf (May 17, 2018)
15_ImpedanceControl.pdf (May 21, 2018)
16_HybridControl.pdf 
(May 21, 2018)

17_VisualServoing.pdf (May 9, 2019)

18_ActuationFaults.pdf
(May 27, 2018)
19_CollisionDetectionReaction.pdf (May 9, 2019)
20_HR_CoexistenceCollaboration.pdf (May 2, 2017)

Outdated slides
02_KinematicRedundancy_18-19.pdf (March 20, 2019) -- old version 2018/19, split in two parts in 2019/20

Videos (shown in classroom)


Syllabus_VideoRob2.pdf 
(May 23, 2018)

01_Rob2_Videos.zip
02a_Rob2_Videos.zip
02b_Rob2_Videos.zip
02c_Rob2_Videos.zip 
05a_Rob2_Videos.zip 
05b_Rob2_Videos.zip 
07a_Rob2_Videos.zip
07b_Rob2_Videos.zip
09_Rob2_Videos.zip
14_Rob2_Videos.zip
16_Rob2_Videos.zip
17a_Rob2_Videos.zip
17b_Rob2_Videos.zip
17c_Rob2_Videos.zip
18_Rob2_Videos.zip
19a_Rob2_Videos.zip 
19b_Rob2_Videos.zip
20_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 22, 2019)

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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