Academic year 2011/12 (second semester)

Course material
Registration to exams

Aims: This course provides tools for: Advanced kinematics and dynamic analysis of robot manipulators; Design of feedback control laws for free motion and interaction tasks, including visual servoing.

Contents: Advanced kinematics for robot manipulators (calibration, redundancy resolution). Derivation and use of the dynamic model of robots (Euler-Lagrange and Newton-Euler formulations). Identification of dynamic coefficients. Inclusion of joint transmission elasticity. Linear and nonlinear control schemes for set-point regulation (PD with gravity compensation, saturated PID, iterative learning) and for trajectory tracking (feedback linearization and decoupling, passive control, robust control, adaptive control) in free motion tasks, as well as for interaction tasks with the environment (compliance control, impedance control, hybrid force/velocity control). Image- and position-based visual servoing (kinematic treatment). Special topics will be presented in a seminarial way: diagnosis of robot actuator faults; detection of physical collisions and safe reaction. (Possibly also covered this year: minimum-time trajectory planning along geometric paths; force- and vision-based controllers in industrial robots).

Prerequisites: The course requires Robotics 1 (or its italian version Robotica 1).

Courses of study:  Master in Artificial Intelligence and Robotics (MARR), Laurea Magistrale in Ingegneria Elettronica (MELR), Laurea Magistrale in Ingegneria Meccanica (MMER), Laurea Magistrale in Ingegneria dei Sistemi (MSIR).

ECTS Credits: 6 credits (5 credits for students of former curricula).

Exams: written part + oral examination (in alternative, preparation of a project).

Lectures

Period: second semester (February-May 2012: 12 weeks)
Begin: Tuesday, February 28, 2012   End:  Tuesday, May 29, 2012

Schedule:      

Tuesday    08:30-10:00 (room A7; DIS, Via Ariosto 25)
Tuesday    10:15-11:45 (room A7; DIS, Via Ariosto 25)
Friday       08:30-10:00 (room A7; DIS, Via Ariosto 25)

Distribution of students according to the course of study:

A.A. 2011/12: 30 MARR (10 international students), 8 MSIR, 4 MELR (1 international student)+ 2 LSER, 1 LAUR, 1 MMER; Total: 46 students (36 present at first lecture).
A.A. 2010/11: 29 MARR (8 international students), 16 MSIR, 10 MELR (1 international student), 1 MMER; Total: 56 students (39 present at first lecture).
A.A. 2009/10: 22 MARR (5 international students), 7 MSIR, 6 SELR, 3 SSIR, 2 MINR, 1 SMER (international student), 1 PhD Aero; Total: 42 students (36 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 2 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).

Office hours for students

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 master theses in Robotics 2, 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.

Extra session 2011/12 (only for students of previous years): written part, April 26, 2012, h 9:00, room A5 (registration until April 22)
First session 2011/12: written part, June 11, 2012, h 9:00, room B2 (registration until June 7)
Second session 2011/12: written part, July 5, 2012, h 9:00, room B2 (registration until June 30)
Third 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
Fourth and fifth sessions 2011/12: January-February 2013
  

Last update: March 25, 2012