Academic year 2026-27 (first semester) [NEW ACADEMIC YEAR!]
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 the recorded lectures are available in this page. These video lectures have received so far a total of about 200K independent views (as of July 2026).
Lecture slides (with date of the latest version uploaded)
Syllabus_ProgramRob1.pdf (December 18, 2025)
[for programs up to 2024/25, with reference to the former textbook Syllabus_ProgramRob1_upto24-25.pdf (December 18, 2025)]
00_Introduction.pdf (September 24, 2025)
01_IndustrialRobots.pdf (October 10, 2025)
02_ServiceRobots.pdf (October 15, 2017)
03_CompsActuators.pdf (October 10, 2025)
04_CompsSensorsProprio.pdf (October 15, 2025)
05_CompsSensorsExtero.pdf (December 5, 2025)
[for former programs, the full version is 05_CompsSensorsExtero_2019-20.pdf (November 26, 2019)]
06_ProgrammingArchitectures.pdf (December 5, 2025)
07_PositionOrientation.pdf (October 22, 2025)
08_EulerRPYHomogeneous.pdf (October 23, 2025)
09_DirectKinematics.pdf (July 15, 2026)
+ 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 12, 2025)
11_DifferentialKinematics.pdf (November 18, 2025)
+ Analysis in MATLAB of subspaces of a Jacobian matrix subspaces_3Rplanar.m (December 3, 2018)
12a_InverseDifferentialKinematics.pdf (November 27, 2025)
12b_StaticsForceTransformations.pdf (November 27, 2025)
13_TrajectoryPlanning.pdf (December 10, 2025), including 8 extra slides (with 2 videos) from block 06_ProgrammingArchitectures
14_TrajectoryPlanningCartesian.pdf (December 12, 2025)
15_KinematicControl.pdf (July 6, 2026), including 2 extra slides (one from block 06_ProgrammingArchitectures, one from EiR module pHRI)
16_DynamicControlSingleAxis.pdf (December 16, 2014)
Videos (shown during the lectures)
Syllabus_VideoRob1.pdf (with approx file sizes: December 11, 2025)
00_Rob1_Videos.zip
01_Rob1_Videos.zip
02_Rob1_Videos.zip
03_Rob1_Videos.zip
04_Rob1_Videos.zip
05_Rob1_Videos.zip
[for former programs, extra videos 05_ex_Rob1_Videos.zip]
06_Rob1_Videos.zip
09_Rob1_Video.zip
09_Exercise_LWR_Rob1_Videos.zip
10_Rob1_Videos.zip
12a_Rob1_Videos.zip
13_Rob1_Videos.zip
14_Rob1_Videos.zip
15_Rob1_Videos.zip
Other material
Strategic Research, Innovation and Deployment Agenda: AI, Data and Robotics Partnership (Third release, September 2020)
2025_WorldRobotics_Presentation_Industrial&Service.pdf (September 25, 2025)
2025_WorldRobotics_ExecSummary_Service.pdf (September 25, 2025)
2025_WorldRobotics_ExecSummary_Industrial.pdf (September 25, 2025)
2024_WorldRobotics_Presentation_Industrial&Service.pdf (September 24, 2024)
2024_WorldRobotics_ExecSummary_Service.pdf (September 24, 2024)
2024_WorldRobotics_ExecSummary_Industrial.pdf (September 24, 2024)
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 (July 13, 2026)
Robotics1_26.07.13.pdf (with solution)
Robotics1_26.06.10.pdf [ExtraSheet] (with solution)
Robotics1_26.03.20.pdf [ExtraSheet] (with solution)
Robotics1_26.02.16.pdf (with solution)
Robotics1_26.02.16_with_midterm.pdf (for students with midterm, with solution)
Robotics1_26.01.12.pdf (with solution)
Robotics1_26.01.12_with_midterm.pdf (for students with midterm, with solution)
Robotics1_Midterm Test_2025-26_25.11.21.pdf [ExtraSheet] (with solution)
Robotics1_25.09.19.pdf
Robotics1_25.07.08.pdf [ExtraSheet] (with solution)
Robotics1_25.06.11.pdf [ExtraSheet] (with solution)
Robotics1_25.02.07.pdf [ExtraSheet]
Robotics1_25.01.13.pdf [ExtraSheet]
Robotics1_25.01.13_midterm.pdf (for students with midterm)
Robotics1_Midterm Test_2024-25_24.11.22.pdf [ExtraSheet] (with solution)
Robotics1_24.11.07.pdf
Robotics1_24.09.19.pdf [ExtraSheet] (with solution)
Robotics1_24.07.08.pdf [ExtraSheet] (with solution)
Robotics1_24.06.12.pdf (with solution)
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