Academic year 2023-24 (first semester)

Lecture slides
Videos in the slides
Other material
Texts of exams

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 125K independent views (as of September 2023).

Lecture slides (with date of the latest version uploaded)

Syllabus_ProgramRob1.pdf (December 20, 2023)

00_Introduction.pdf (October 2, 2023)
01_IndustrialRobots.pdf (October 6, 2023)
02_ServiceRobots.pdf (October 15, 2017)
03_CompsActuators.pdf (October 18, 2020)
04_CompsSensorsProprio.pdf (November 22, 2019)
05_CompsSensorsExtero.pdf (November 22, 2022)
    [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 13, 2023)
08_EulerRPYHomogeneous.pdf (October 31, 2022)
09_DirectKinematics.pdf (October 27, 2023)
    + 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 10, 2023)
11_DifferentialKinematics.pdf (December 6, 2023)
    + Analysis in MATLAB of subspaces of a Jacobian matrix subspaces_3Rplanar.m (December 3, 2018)
12a_InverseDifferentialKinematics.pdf (December 1, 2023)
12b_StaticsForceTransformations.pdf (November 27, 2023)
13_TrajectoryPlanningJoints.pdf (December 8, 2022)
    or 13_TrajectoryPlanningJoints_plus.pdf (December 8, 2022), including 4 extra slides (from block 06_Programming)
14_TrajectoryPlanningCartesian.pdf (December 10, 2022)
15_KinematicControl.pdf (December 16, 2021)
    or 15_KinematicControl_plus.pdf (December 16, 2021), 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: December 20, 2023)

00a_Rob1_Video.zip
00b_Rob1_Video.zip
00c_Rob1_Video.zip
00d_Rob1_Video.zip
00e_Rob1_Video.zip
01a_Rob1_Video.zip
01b_Rob1_Video.zip
01c_Rob1_Video.zip
01d_Rob1_Video.zip
01e_Rob1_Video.zip
01f_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
12_Rob1_Video.zip
13_Rob1_Video.zip
14_Rob1_Video.zip
15_Rob1_Video.zip

Other material

2023_WorldRobotics_Presentation_Industrial&Service.pdf (September 26, 2023)
2023_WorldRobotics_ExecSummary_Service.pdf (September 26, 2023)
2023_WorldRobotics_ExecSummary_Industrial.pdf (September 26, 2023)

2022_WorldRobotics_Presentation_Industrial&Service.pdf (October 14, 2022)
2022_WorldRobotics_ExecSummary_Service.pdf (October 14, 2022)
2022_WorldRobotics_ExecSummary_Industrial.pdf (October 14, 2022)
2021_WorldRobotics_Presentation_Industrial&Service.pdf (November 10, 2021)
2021_WorldRobotics_ExecSummary_Service.pdf (November 10, 2021)
2021_WorldRobotics_ExecSummary_Industrial.pdf (November 10, 2021)
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 16, 2024)

Robotics1_24.02.16.pdf (with solution)
Robotics1_24.01.24.pdf [ExtraSheet] (with solution)
Robotics1_Midterm Test_2023-24_23.11.15.pdf [ExtraSheet] (with solution)
Robotics1_23.09.11.pdf
Robotics1_23.07.10.pdf
Robotics1_23.06.12.pdf [ExtraSheet] (with solution)
Robotics1_23.03.24.pdf [ExtraSheet]
Robotics1_23.02.13.pdf (with solution)
Robotics1_23.01.23.pdf [ExtraSheet_A] [ExtraSheet_B] (with solution)
Robotics1_Midterm Test_2022-23_22.11.18.pdf (with solution)
Robotics1_22.10.21.pdf (with solution)
Robotics1_22.09.09.pdf [ExtraSheet#1] [ExtraSheet#2] (with solution)
Robotics1_22.07.08.pdf (with solution)
Robotics1_22.06.10.pdf (with solution)
Robotics1_22.04.05.pdf
Robotics1_22.02.03.pdf [ExtraSheet] (with solution)
Robotics1_22.01.11.pdf (with solution)
Robotics1_Midterm Test_2021-22_21.11.19.pdf [ExtraSheet] (with solution)
Robotics1_21.10.19.pdf
Robotics1_21.09.10.pdf (with solution)
Robotics1_21.07.12.pdf (with solution)
Robotics1_21.06.11.pdf (with solution)
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