Alessandro De Luca

Robotics 1

Prof. Alessandro De Luca
Dipartimento di Ingegneria informatica, automatica e gestionale Antonio Ruberti (DIAG)
Sapienza Università di Roma
Via Ariosto 25, 00185 Roma, Italy
office: A-210
tel: +39 06 77274 052
email: deluca [at] diag [dot] uniroma1 [dot] it


Academic year 2019/20 (first semester)

Video recordings of the 30 lectures given in class during the academic year 2014-15 are available in the Robotics 1 playlist of the Video DIAG - Sapienza YouTube channel. Please note that these are traditional lectures with the use of multimedia material, not prepared on purpose for an online offering (differently from MOOC courses).

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 in industrial and service applications. The basic functional components of a robot are discussed: 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 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 some background in Automatic Control are useful. The course is introductory (and mandatory) for the advanced courses Robotics 2 and 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

Lectures

Period: first semester (September-December 2019; about 13 weeks)
Begin: Tuesday, September 24, 2019
End: Friday, December 20, 2019

Schedule:

Tuesday 08:00-10:00 (room B2, DIAG, Via Ariosto 25)
Friday 08:00-11:00 (room B2; DIAG, Via Ariosto 25)

Distribution of students according to the course of study:

A.A. 2019/20: 102 MARR (29 international students), 36 MCER (14), 5 Erasmus (international); Total: 143 students (104 present at first lecture)
A.A. 2018/19: 85 MARR (27 international students), 49 MCER (13), 8 Erasmus + 2 Others (all international); Total: 144 students (110 present at first lecture)
A.A. 2017/18: 57 MARR (22 international students), 32 MCER (23), 3 other Sapienza (-), 10 Erasmus (international); Total: 102 students (71 present at first lecture)
A.A. 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)
A.A. 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)
A.A. 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)
A.A. 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)
A.A. 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)
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), 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:

Robotics
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.

Registration to exams

Please register to exams via the web site Infostud, using your student ID ("matricola") and password. Choose the course name in the list with the correct number of credits. The same procedure applies also to incoming Erasmus+ students.

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 2019/20 have been published on October 7, 2019.
Registration to the next available regular session opens at the closing date of the registration to the previous regular session. Extra sessions open as soon as their date is known. The deadline for registration to each session is one week before the date of the written exam.

Last update: November 27, 2019