Prof. Alessandro De Luca
Dipartimento di Ingegneria informatica, automatica e gestionale Antonio Ruberti (DIAG)
Sapienza Università di Roma
Via Ariosto 25, 00185 Roma, Italy
tel: +39 06 77274 052
email: deluca [at] diag [dot] uniroma1 [dot] it
Academic year 2021-22 (first semester)VIDEO LECTURES
- The lectures of the course given in class in the academic year 2014-15 have been video recorded and are freely available in the Robotics 1 playlist of the Video DIAG - Sapienza YouTube channel.
- The lectures of Robotics 1 of the current academic year 2021-22 will take place in the classroom, with the Covid-19 restrictions prescribed by Sapienza. The lectures will be available also in streaming on Zoom only for Sapienza students, see below.
Booking of 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 in industrial and service applications. The basic functional components of a robot are discussed: mechanics for manipulation, actuators and transmissions, proprio- and exteroceptive sensing devices, control architecture, and programming. Direct, inverse, and differential kinematic models of robot manipulators are analyzed. Trajectory planning methods are presented both in the joint and in the task (Cartesian) space. 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 of linear algebra, as well as some background in Automatic Control are useful. The course is mandatory as an introduction to the advanced courses Robotics 2, Elective in Robotics, or Control Problems in Robotics. It is also suggested (but not strictly mandatory) for the course 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 (60 hours of classes, 5 hours/week)
Exams: written part + oral discussion/examination
Period: first semester (September-December 2021; about 13 weeks)
Begin: Wednesday, September 29, 2021
End: Wednesday, December 22, 2021
Schedule [time zone: CEST = UTC+2 until October 29, then CET = UTC+1]:
|Wednesday||17:00-19:00 (room B2, DIAG, Via Ariosto 25)|
|Friday||08:00-11:00 (room B2; DIAG, Via Ariosto 25)|
Note: Room B2 has 42 seats available, according to Covid-19 rules on social distancing. For seat reservation, see the Sapienza procedure (the DIAG department in Via Ariosto 25 has building code RM102).
Remote access with Zoom:
You can access only if you join with your Sapienza institutional account (@studenti.uniroma1.it).
Distribution of students according to the course of study:
2021-22: Total of ... students as Sapienza members of the Google group ...
2020-21: Total of 160 students as Sapienza members of the Google group: 120 MARR (17 international students), 31 MCER (8 international), 9 other courses (1 international)
2019-20: 102 MARR (29 international students), 36 MCER (14), 5 Erasmus (international); Total: 143 students (104 present at first lecture)
2018-19: 85 MARR (27 international students), 49 MCER (13), 8 Erasmus + 2 Others (all international); Total: 144 students (110 present at first lecture)
2017-18: 57 MARR (22 international students), 32 MCER (23), 3 other Sapienza (-), 10 Erasmus (international); Total: 102 students (71 present at first lecture)
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)
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)
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)
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)
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)
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)
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)
2009-10: 19 MARR (2 international students), 4 MINR (2), 1 BIAR; Total: 24 students (24 present at first lecture)
2008-09: 6 MINR (3 international students), 2 LAUR; Total: 8 students (4 present at first lecture)
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.
A Google group has been created to post questions about the content of the lectures, exchange information and discuss the topics of the course in general. New registrations are not accepted after the end of the lectures. Groups of past years are still active (but no new registrations are considered as well).
Access: Restricted to Sapienza students only (or by invitation). Please request admission at the URL using ONLY your institutional email address @studenti.uniroma1.it (if you already have one). When applying be sure to enter i) your first and last name as "Display Name", and ii) your Master program [Control Engineering (MCER) or AI & Robotics (MARR)], together with any other useful information about your current status, as "Reason for joining".
I open sessions only for the exam of Robotics I (code 1023235, 6 credits). For past versions (e.g., Robotica I (code 1027891, 6 credits), Robotics (code 1027894, 6 credits), Robotica (code 1023234, 6 credits)) and any other situation, please contact me in advance.
Registrations to exams for the sessions of the academic year 2021-22 are still closed and will open on Infostud in early December 2021.
The calendar of exams for the sessions of the academic year 2020-21 has been published on November 28, 2020. Booking of the next available regular session opens on Infostud at the closing date for booking the previous regular session. Extra sessions open one month before the exam date. According to the Sapienza Covid-19 procedures, the booking deadline of each session is currently 2 weeks before the date of the written exam.
- I session: written exam, January 12, 2021, 8:00. Remote mode: Zoom.us + Exam.net (passwords communicated to the students who booked on Infostud)
- II session: written exam, February 4, 2021, 8:00. Remote mode: Zoom.us + Exam.net (passwords communicated to the students who booked on Infostud)
- First extra session (only for part-time students or students of past years = "fuori corso"): March 19, 2021, 9:00. Remote mode: Zoom.us + Exam.net (passwords communicated to the students who booked on Infostud)
- III session: written exam, June 11, 2021, 8:30. Two optional modes: in person (room B2); remote: Zoom.us + Exam.net (passwords communicated to the students who booked on Infostud)
- IV session: written exam, July 12, 2021, 8:00. Two optional modes: in person (room B2); remote: Zoom.us + Exam.net (passwords communicated to the students who booked on Infostud)
- V session: written exam, September 10, 2021, 9:00. Two optional modes: in person (room 108, Marco Polo); remote: Zoom.us + Exam.net (passwords communicated to the students who booked on Infostud)
- Second extra session (only for part-time students, students of past years = "fuori corso", and students enrolled to the second year of a master degree in 2020-21): NEW DATE! October 19, 2021, 17:00, room B2 [booking opens on September 18]