Course material
Registration to 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 and mobile-base robots in industrial and service applications. The basic functional components of a robot are presented: mechanics for manipulation, actuators, proprio- and exteroceptive sensing devices, control architecture, and programming. Direct, inverse, and differential kinematic models of robot manipulators are analyzed. Trajectory planning methods both in the joint and in the task (Cartesian) space are then explored. 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 some background in Automatic Control are useful. The course is introductory (and mandatory) for the advanced courses Robotics 2 and Autonomous and Mobile Robotics, which are offered during the second semester.
Courses of study: Master in Artificial Intelligence and Robotics (MARR), Laurea in Ingegneria Informatica e Automatica (BIAR), Laurea Magistrale in Ingegneria Elettronica (MELR), Laurea Magistrale in Ingegneria Informatica (MINR), Laurea Magistrale in Ingegneria dei Sistemi (MSIR).
ECTS Credits: 6 credits (5 credits for students of former curricula).
Exams: written part + oral examination.
Lectures
Period: first semester (October-December 2011; 12 weeks)
Begin: Tuesday, October 4, 2011 End: Tuesday, December 20, 2011
Schedule:
Tuesday 15:45-17:15 (room A3; DIS, Via Ariosto 25)
Friday 10:15-11:45 (room A3; DIS, Via Ariosto 25)
Friday 12:00-13:30 (room A3; DIS, Via Ariosto 25)
Distribution of students according to the course of study:
A.A. 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)
A.A. 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)
A.A. 2009/10: 19 MARR (2 international students), 4 MINR (2 international students), 1 BIAR; Total: 24 students (24 present at first lecture)
A.A. 2008/09: 6 MINR (3 international students), 2 LAUR; Total: 8 students (4 present at first lecture)
Course material
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 latest 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 (requires Acrobat Reader 7.0 or later).
During the second semester 2011/12 (until June 2012), I am available for discussions with students every Tuesday, 12:00-13:30 in my office (room A-210, left wing, second floor of the DIS building, Via Ariosto 25). Otherwise, please contact me by email to arrange a meeting time (with some advance notice). For bachelor projects in Robotics 1, please browse the page Topics for theses of the DIS Robotics Laboratory.
Registration to exams
Please register to exams via the web site INFOSTUD, using your student ID and password. Choose the course name in the list with the correct number of credits. Starting from the academic year 2011/12, this applies also to regular Erasmus and Erasmus Mundus students who receive now their student ID code ("matricola") as well.
Registrations to exams are open for the following sessions of the academic year 2011/12.
First session 2011/12: written part, January 11, 2012
Second session 2011/12: written part, February 9, 2012
Extra session 2011/12 (only for students of previous years): written part, April 26, 2012, h 9:00, room A5 (registration until April 22)
Third session 2011/12: written part, June 11, 2012, h 9:00, room B2 (registration until June 7)
Fourth session 2011/12: written part, July 5, 2012, h 9:00, room B2 (registration until June 30)
Fifth session 2011/12: written part, September 10, 2012, h 9:00, room A3 (registration until September 5)
Extra session 2011/12 (only for students of previous years): between November 2 and 20, 2012
Last
update: March 25, 2012