Course material Robotics 1

  Prepared by Prof. Alessandro De Luca
 

Video recordings of the 30 lectures given in class during the academic year 2014-15 are still available in the Robotics 1 playlist of the Video DIAG - Sapienza YouTube channel. The original slides and the videos associated to these recorded lectures have been permanently stored here.

Academic year 2018-19 (first semester)

Lecture slides
(with date of the latest version uploaded)


Syllabus_TextbookReferencesRob1.pdf
(December 31, 2016)

00_Information.pdf (September 19, 2018) 
01_IndustrialRobots.pdf (September 23, 2018)
02_ServiceRobots.pdf (October 15, 2017)

03_CompsActuators.pdf (November 9, 2018)
04_CompsSensorsProprio.pdf (November 11, 2018)
05_CompsSensorsExtero.pdf (November 18, 2018)
06_ProgrammingArchitectures.pdf (November 17, 2014)

07_PositionOrientation.pdf (November 2, 2016)
08_EulerRPYHomogeneous.pdf (November 6, 2017
09_DirectKinematics.pdf (October
15, 2018)
     + 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 6, 2018) 
11_DifferentialKinematics.pdf
(December 11, 2016)
     + Analysis in Matlab of subspaces of a Jacobian matrix subspaces_3Rplanar.m (December 11, 2016)
12_InverseDiffKinStatics.pdf (December 5, 2015)

13_TrajectoryPlanningJoints.pdf (December 18, 2015)
14_TrajectoryPlanningCartesian.pdf (December 18, 2015)

15_KinematicControl.pdf (December 16, 2014)
16_DynamicControlSingleAxis.pdf (December 16, 2014)

Videos (shown in classroom)

Syllabus_VideoRob1.pdf (with approx file sizes: December 31, 2016)

00a_Rob1_Video.zip 
00b_Rob1_Video.zip
00c_Rob1_Video.zip
00d_Rob1_Video.zip 
01a_Rob1_Video.zip 
01b_Rob1_Video.zip
01c_Rob1_Video.zip
01d_Rob1_Video.zip
02a_Rob1_Video.zip
02b_Rob1_Video.zip
03_Rob1_Video.zip 
04_Rob1_Video.zip
05a_Rob1_Video.zip
05b_Rob1_Video.zip
06_Rob1_Video.zip
09_Rob1_Video.zip
10_Rob1_Video.zip
13_Rob1_Video.zip
14_Rob1_Video.zip
15_Rob1_Video.zip

Other material

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_KinInvPuma600.pdf (October 16, 2008)

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 11, 2018)

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

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