Robotics 2

Information
Prof. Alessandro De Luca

Robotics 2 2012/13

Second semester

Courses of study (code/year)

48 hours of classes, 75 of individual study

Classes

Robotics 2

Master in Artificial Intelligence and Robotics (MARR)

Laurea Magistrale in Ingegneria Elettronica (MELR)

Credits: 6

Friday, March 1 Friday, May 31, 2013

Tuesday
Tuesday
Friday

08:30-10:00 (room A7, Via Ariosto 25)

10:15-11:45 (room A7, Via Ariosto 25)
08:30-10:00 (room A7, Via Ariosto 25)
2

Contacts

Office hours

Email: deluca@dis.uniroma1.it
URL: http://www.dis.uniroma1.it/~deluca
Course material (pdf of lecture slides, videos, written exams, )
http://www.dis.uniroma1.it/~deluca/rob2_en.html

every Tuesday 12:00-13:30 c/o office A-210, left wing,

floor 2, DIS, Via Ariosto 25
and/or by email (with some advance)

lecture slides updated and uploaded during the course

Registration to exams
http://www.uniroma1.it/studenti/infostud/

Robotics 2

General information

Prerequisites

Aims

Advanced kinematics and dynamic analysis of robot manipulators

Design of sensory feedback control laws for free motion and
interaction tasks

Textbook

Robotics 1 as prerequisite

B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics: Modelling,

Planning and Control, 3rd Edition, Springer, 2009

Related courses

Robotics 2

Autonomous and Mobile Robotics: this semester, 6 credits

Elective in Robotics: this year, 12 credits (four modules)
Medical Robotics: this semester, 6 credits
4

Program

Advanced kinematics

Kinematic calibration
Kinematic redundancy and resolution methods

Dynamic modeling of manipulators

Robotics 2

Direct and inverse dynamics

Euler-Lagrange formulation
Newton-Euler formulation
Properties of the dynamic model
Identification of dynamic parameters
Inclusion of joint transmissions flexibility
Inclusion of geometric constraints

Program (continued)

Design of feedback control laws

Free motion tasks

set-point regulation

trajectory tracking

feedback linearization and input-output decoupling

passivity-based control
adaptive control
robust control

Interaction tasks with the environment

Robotics 2

PD with gravity compensation

saturated PID
iterative learning

compliance control
impedance control
hybrid force/velocity control
6

Program (continued)

Exteroceptive feedback control laws

Image- and position-based visual servoing

kinematic treatment

Seminars (a selection from the following topics)

Robotics 2

Diagnosis of robot actuator faults

Detection of physical collisions and safe reaction
Minimum-time trajectory planning along geometric paths
Force- and vision-based control in industrial robots
Simulation (Matlab/Simulink)

Exams and Master Thesis

Type of exam

Schedule for academic year 2012/13

written test + oral part OR final project + oral discussion

2 sessions at the end of this semester
June 10, 9:00 and July 15, 9:00
1 session after the summer break
between September 2 and 27
2 sessions at the end of the first semester of next year
between January and February 2014
2 extra sessions only for students of previous years, part-time, etc.
April 10, 2013, 9:00; between Oct 25 and Nov 16, 2013

Master theses

Robotics 2

available at DIS Robotics Lab: http://www.dis.uniroma1.it/~labrob

with Prof. G. Oriolo and Dr. M. Vendittelli
8