Course material Robotics 2

  Prepared by Prof. Alessandro De Luca
 

Academic year 2018-19 (second semester)

Lecture slides (with date of the latest version uploaded) 

Syllabus_ProgramRob2.pdf 
(May 23, 2018)

00_Information.pdf (February 23, 2019)
01_Calibration.pdf (March 4, 2019)
02_KinematicRedundancy.pdf (March 20, 2019)
03_LagrangianDynamics_1.pdf (March 27, 2019)
04_LagrangianDynamics_2.pdf (April 1, 2019)
05a_LagrangianDynamics_3.pdf (April 10, 2019)
05b_LinearParametrizationIdentification.pdf (April 8, 2019)
06_NewtonEulerDynamics.pdf (April 8, 2019)
07_IntroControl.pdf
(April 8, 2019)
08_Regulation.pdf 
(April 23, 2019)
09_IterativeLearning.pdf 
(May 6, 2019)
10_TrajectoryControl.pdf 
(May 7, 2019)
11_RobustControl.pdf (April 30, 2010) -- NOT in program (personal reading)
12_AdaptiveControl.pdf (May 24, 2013)
13_CartesianControl.pdf 
(May 11, 2016)
14_EnvironmentInteraction.pdf (May 17, 2018)
15_ImpedanceControl.pdf (May 21, 2018)
16_HybridControl.pdf 
(May 21, 2018)
17_VisualServoing.pdf (May 9, 2019)
18_ActuationFaults.pdf
(May 27, 2018)
19_CollisionDetectionReaction.pdf (May 9, 2019)
20_HR_CoexistenceCollaboration.pdf (May 2, 2017)

Videos (shown in classroom)

Syllabus_VideoRob2.pdf 
(May 23, 2018)

01_Rob2_Videos.zip
02a_Rob2_Videos.zip
02b_Rob2_Videos.zip
02c_Rob2_Videos.zip 
05a_Rob2_Videos.zip 
05b_Rob2_Videos.zip 
07a_Rob2_Videos.zip
07b_Rob2_Videos.zip
09_Rob2_Videos.zip
14_Rob2_Videos.zip
16_Rob2_Videos.zip
17a_Rob2_Videos.zip
17b_Rob2_Videos.zip
17c_Rob2_Videos.zip
18_Rob2_Videos.zip
19a_Rob2_Videos.zip 
19b_Rob2_Videos.zip
20_Rob2_Videos.zip 

Other material

PIDsaturated_Kelly.pdf (February 23, 2009)
AdaptivePDgravity_Tomei.pdf (May 10, 2009)
ForceControl_EppingerSeering.pdf (February 23, 2009)
TorqueFeedIndRob_VerdonckSwevers.pdf (May 25, 2009)

Complementary material

Dynamic symbolic model 1R robot with elastic joint
(requires Matlab with Symbolic Toolbox, March 23, 2010)
Dynamic symbolic model PR robot (requires Matlab with Symbolic Toolbox, March 23, 2010)
Identification 1R robot (Matlab, May 1, 2018, by Claudio Gaz)

The following complementary (not treated) material is still available in the old FTP site
Robotica II:

LocomozioneBipede.pdf (last update 2004)
LocomozioneQuadrupede.pdf (last update 2004)
sim_2R_FL_control (folder with Simulink/Matlab files for the simulation of a nonlinear controller, 2007)

Texts of written exams (_yy.mm.dd) and archive of old exercises (_yy)

Syllabus_WrittenExamsRob2.pdf (July 11, 2019)

Robotics2_19.07.11.pdf (with solution)
Robotics2_19.06.17.pdf [ExtraSheet] (with solution)
Robotics2_Midterm_Test_2018-19_19.04.29.pdf (with solution)
Robotics2_18.07.11.pdf (with solution)
Robotics2_18.06.11.pdf (with solution)
Robotics2_Midterm_Test_2017-18_18.04.26.pdf (with solution)
Robotics2_18.03.27.pdf (with solution)
Robotics2_18.02.05.pdf (with solution)
Robotics2_18.01.11.pdf (with solution)
Robotics2_17.10.27.pdf 
Robotics2_17.09.21.pdf (with solution)
Robotics2_17.07.11.pdf (with solution)
Robotics2_17.06.06.pdf (with solution)
Robotics2_Final_Test_2016-17_17.05.29.pdf (with solution)
Robotics2_Midterm_Test_2016-17_17.03.29.pdf (with solution)
Robotics2_17.01.11.pdf
Robotics2_16.10.28.pdf (with solution)
Robotics2_16.09.12.pdf (with solution)
Robotics2_16.07.11.pdf (with solution)
Robotics2_16.06.06.pdf (with solution)
Robotics2_Final_Test_2015-16_16.06.01.pdf (with solution)
Robotics2_Midterm_Test_2015-16_16.04.13.pdf (with solution)
Robotics2_15.04.01.pdf
Robotics2_14.10.27.pdf (with solution)
Robotics2_14.09.22.pdf
Robotics2_14.07.15.pdf
Robotics2_14.06.10.pdf
Robotics2_14.04.02.pdf
Robotics2_13.09.19.pdf 
Robotics2_13.07.15.pdf (with solution)
Robotics2_13.06.10.pdf 
Robotics2_13.02.06.pdf (with solution)
Robotics2_13.01.09.pdf (with solution)
Robotics2_12.07.05.pdf (with solution)
Robotics2_12.06.11.pdf (with solution)
Robotics2_11.09.12.pdf (with solution)
Robotics2_11.07.04.pdf 
Robotics2_11.06.17.pdf (with solution)
Robotics2_10.09.15.pdf (with solution)
Robotics2_10.07.07.pdf (with solution)
Robotics2_10.06.15.pdf (with solution)
Note: The material below this point is only in Italian, sorry!
Robotica2_09.09.10.pdf (with solution)
Robotica2_09.07.10.pdf (with solution)
Robotica2_09.06.10.pdf (with solution)
Robotica2_08.09.11.pdf (with solution sketch)
Robotica2_08.03.20.pdf 
Robotica2_07.09.13.pdf 
Robotica2_07.04.19.pdf (with solution)
Robotica2_07.03.23.pdf
Robotica2_06.09.11.pdf
Robotica2_06.07.13.pdf
Robotica2_06.06.30.pdf
(
with solution sketch)
Robotica2_05.09.22.pdf 
Robotica2_05.04.14.pdf 
Robotica2_05.04.05.pdf (with solution)
Robotica2_04.04.06.pdf (
with solution)
Robotica2_04.03.25.pdf (with solution)
-----
Autovalutazione_97.pdf
(with solution)
Regolazione2R_95.pdf
DinamicaRPR_93.pdf
ContrCedevolezza_92.pdf
DinamicaPRelas_91.pdf
(with solution)
LinearApproxTraiett_91.pdf
(with solution)
DisaccLinear2R_91.pdf
DinamicaLinAppPR_90.pdf
StaticaCoop3R2R_90.pdf

DinamicaTraiett2R_90.pdf (with solution)
DinamicaPolar2R_90.pdf
DinamicaAdaptRP_89.pdf

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