Prof. Alessandro De Luca
Dipartimento di Ingegneria informatica, automatica e gestionale Antonio Ruberti (DIAG)
Sapienza Università di Roma
Via Ariosto 25, 00185 Roma, Italy
tel: +39 06 77274 052
email: deluca [at] diag [dot] uniroma1 [dot] it
Academic year 2017/18 (second semester)
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.
Courses of study: M.Sc. in Control Engineering (MCER), M.Sc. in Artificial Intelligence and Robotics (MARR)
ECTS Credits: 6 credits
Exams: written part + oral examination (in alternative, preparation of a project after passing a classroom test)
Period: second semester (February-June 2018: about 12 weeks)
Schedule: in preparation
Distribution of students according to the course of study:
A.A. 2017/18: ... students
A.A. 2016/17: 66 MARR (12 international students), 26 MCER (14), 1 PhD, 1 BIAR, 1 Other (1); Total: 95 students (75 present at first lecture)
A.A. 2015/16: 52 MARR (10 international students), 28 MCER (6), 2 BIAR (1); Total: 82 students (65 present at first lecture)
A.A. 2014/15: 16 MCER (4 international students), 14 MARR (2), 2 Erasmus (international); Total: 32 students (29 present at first lecture)
A.A. 2013/14: 36 MARR (15 international students), 9 MCER, 5 Erasmus (international), 2 MELR; Total: 52 students (26 present at first lecture)
A.A. 2012/13: 44 MARR (8 international students), 4 MELR (1), 4 Erasmus (international), 2 PhD, 1 MSIR; Total: 55 students (48 present at first lecture)
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 (24 present at first lecture)
A.A. 2008/09: 6 MINR (3 international students), 2 LAUR; Total: 8 students (4 present at first lecture)
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 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).
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+ and Erasmus Mundus students.
I usually open sessions only for the two exams of Robotics II (code 1021883, 6 credits) and Robotica II (code 1022120, 6 credits). For any other situation please contact me in advance.
Registrations to exams for all sessions of the academic year 2016/17 are open since October 31, 2016:
- I session: written part, January 11, 2017, 9:00, room B2
- II session: written part, February 3, 2017, 9:00, room B2
- First extra session (only for students of previous years): written part, April 11, 2017, 9:00, room A2
- III session: written part, June 6, 2017, 9:00, room B2
- IV session: written part, July 11, 2017, 9:00, room B2
- V session: written part, September 11, 2017, 9:00, room B2 (registration closed on September 4)
IMPORTANT NOTICE: I am participating to the on-going national strike of university professors. This session will not take place as planned, and has been postponed to September 21, 2017, 9:00, room B2 (registered students have been contacted by mail). For more information on the strike modalities and its motivations, see also the I3S School Dean's message (and the materials linked in that page).
- Second extra session (only for students of previous years): written part, October 27, 2017, 14:00, room A5 (registration closes on October 20)