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    Information and Program: Robotics 1

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    Aland Bravo
    This document provides information about the Robotics 1 course for the 2017/18 academic year taught by Prof. Alessandro De Luca. The course is offered in the first semester from October to December 2017, and covers topics including kinematic modeling, trajectory planning, control systems, and programming for robot manipulators. Students will learn through lectures, labs working with various robots, and exams. Related courses on advanced robotics topics are also offered.

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    Information and Program: Robotics 1

    Uploaded by

    Aland Bravo
    44 views21 pages
    This document provides information about the Robotics 1 course for the 2017/18 academic year taught by Prof. Alessandro De Luca. The course is offered in the first semester from October to December 2017, and covers topics including kinematic modeling, trajectory planning, control systems, and programming for robot manipulators. Students will learn through lectures, labs working with various robots, and exams. Related courses on advanced robotics topics are also offered.

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    This document provides information about the Robotics 1 course for the 2017/18 academic year taught by Prof. Alessandro De Luca. The course is offered in the first semester from October to December 2017, and covers topics including kinematic modeling, trajectory planning, control systems, and programming for robot manipulators. Students will learn through lectures, labs working with various robots, and exams. Related courses on advanced robotics topics are also offered.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    44 views21 pages

    Information and Program: Robotics 1

    Uploaded by

    Aland Bravo
    This document provides information about the Robotics 1 course for the 2017/18 academic year taught by Prof. Alessandro De Luca. The course is offered in the first semester from October to December 2017, and covers topics including kinematic modeling, trajectory planning, control systems, and programming for robot manipulators. Students will learn through lectures, labs working with various robots, and exams. Related courses on advanced robotics topics are also offered.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 21

    Robotics 1

    Information and Program

    Prof. Alessandro De Luca

    Robotics 1 1
    Robotics 1 – 2017/18

    !  First semester (12 weeks)


    !  Monday, October 2, 2017 – Monday, December 18, 2017
    !  Courses of study (with this course mandatory or present in optional group)
    !  Master in Artificial Intelligence and Robotics (MARR)
    !  Master in Control Engineering (MCER)
    !  Credits: 6
    !  54 hours of classes + 6 of tests/laboratory, 75 of individual study
    !  Classes
    !  Monday 8:00-10:00 (room B2, Via Ariosto 25)
    !  Friday 10:00-13:00, with break (room B2)

    Robotics 1 2
    Contacts and materials
    !  Email [email protected]
    !  Office hours
    !  Tuesday 14:00-15:30 c/o A-210, left wing, floor 2, DIAG, Via Ariosto 25
    and/or contact me by email (with some advance)
    !  check my known travel dates at .../~deluca/Travel.php
    !  Course website www.diag.uniroma1.it/~deluca/rob1_en.html
    !  Extra material (pdf of lecture slides, videos, written exams, …)
    !  available on the course website
    !  lecture slides ready, but with updates during the course

    !  Video DIAG Channel playlist Robotics 1 full course 2014/15 videos


    !  30 (+1) videos in the classroom, about 41 h, almost 30000 views
    !  YouTube Channel with more videos of research performed in the Lab
    !  www.youtube.com/user/RoboticsLabSapienza
    Robotics 1 3
    General information

    !  Prerequisites
    !  self-contained course, without special prerequisites

    !  elementary knowledge on kinematics and automatic control is useful

    !  Aims
    !  tools for kinematic analysis, trajectory planning, and programming of

    motion tasks for robot manipulators in industrial and service


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

    Planning and Control, 3rd Edition, Springer, 2009


    !  Other strictly related courses
    !  Robotics 2: second semester, 6 credits

    !  Autonomous and Mobile Robotics: second semester, 6 credits

    Robotics 1 4
    Programming robot motion
    Teaching Cartesian poses and playing them back

    video

    KUKA LBR iiwa robot with 7 revolute joints


    Robotics 1 5
    Programming robot motion
    Executing nominal trajectories and “complying” with uncertainties

    video

    Robotics 1 6
    Programming robot compliance
    Controlled reaction to applied forces/torques at robot end-effector

    video

    video

    Robotics 1 7
    Programming robot motion
    Teaching tasks by demonstration (kinesthetic learning)

    sketch of the original idea


    — a first need & use of safe
    physical Human-Robot Interaction (pHRI)

    video
    video

    the working industrial solution

    More videos on the LBR iiwa robot:


    KUKA Laboratories YouTube Channel

    Robotics 1 8
    Program

    !  Introduction
    !  Manipulator arms (and some mobile robots)
    !  Industrial and service applications
    !  Components
    !  Mechanical structures
    !  Actuators
    !  Sensors
    !  proprioceptive (encoder, tacho)
    !  exteroceptive (force/torque, tactile, ultrasound, infrared, laser, vision)
    !  Kinematic models
    !  Minimal representations of orientation
    !  Direct and inverse kinematics of robot manipulators
    !  Differential kinematics: analytic and geometric Jacobians
    !  Statics: Transformations of forces
    !  Robot singularities

    Robotics 1 9
    Program (continued)

    !  Planning of motion trajectories


    !  Trajectory planning in the joint space for robot manipulators
    !  Trajectory planning in the task/Cartesian space
    !  Control
    !  Control system architectures
    !  Kinematic control laws (in joint or in task/Cartesian space)
    !  Independent joint axis control laws (P, PD, PID)
    !  Programming and Simulation
    !  Programming languages for industrial robots (KRL)
    !  Use of Matlab/Simulink and VREP
    !  Demos in the lab with the KUKA robots (6-dof KR5 and 7-dof LWR4+)
    and the Universal Robot (6-dof, non-spherical wrist UR-10)

    Robotics 1 10
    Robot manipulators
    available in the DIAG Robotics Lab (S-218)

    video video

    KUKA KR-5 KUKA LWR4+ (lightweight, about 14 kg)


    Robotics 1 11
    Robot manipulators
    available in the DIAG Robotics Lab (S-218)

    commercial video

    arrived in July 2016

    Universal Robot UR 10 (= 10 kg of payload)


    Robotics 1 12
    Tracking a Cartesian trajectory
    with hard position/velocity bounds on robot motion

    video DIAG-Sapienza/Stanford, IEEE ICRA 2012


    Robotics 1 13
    Robot control by visual servoing
    with limited joint motion range

    video INRIA Rennes, IEEE/RSJ IROS 2011


    Robotics 1 14
    Sensor-based robot control
    in dynamic environments (coexistence with human)

    video DIAG-Sapienza/Stanford, IEEE ICRA 2012


    Robotics 1 15
    Safe physical human-robot interaction
    (sensor-less (!) and on a conventional industrial robot)

    video DIAG-Sapienza, IEEE ICRA 2013


    Robotics 1 16
    Human-robot collaboration
    (with a real F/T and a “virtual” sensor to distinguish contacts)

    video DIAG-Sapienza, J. of Mechatronics, 2017


    Robotics 1 17
    Exams and beyond
    !  Type homework/classroom test + written test + oral examination
    !  Schedule (written sessions of 2017/18, will open soon in INFOSTUD)
    !  2 sessions at the end of this semester
    !  January 11 and February 5, 2018

    !  2 sessions at the end of next semester


    !  June 6 and July 11, 2018

    !  1 session after the summer break


    !  September 11, 2018

    !  2 extra sessions only for students of previous years, part-time, etc.


    !  27 March and 18 October 2018

    !  Registration to exams
    !  www.uniroma1.it/infostud
    !  Master theses
    !  available at DIAG Robotics Lab: www.diag.uniroma1.it/labrob
    Robotics 1 18
    Preview of Robotics 2 (next semester)

    !  Advanced kinematics / Robot dynamics


    !  Calibration
    !  Redundant robots
    !  Dynamic modeling: Lagrange and (recursive) Newton-Euler methods
    !  Identification of dynamic parameters
    !  Control techniques
    !  Free motion linear and nonlinear feedback control, iterative learning,
    robust control, adaptive control
    !  Constrained motion impedance and hybrid force-velocity control
    !  Visual servoing (kinematic approach)
    !  Special topics
    !  Diagnosis and isolation of robot actuator faults
    !  Human-robot collision avoidance & detection, with safe robot reaction

    Robotics 1 19
    Other courses about Robotics and Control...
    !  Autonomous and Mobile Robotics (6 credits), next semester
    !  kinematics, planning, control of wheeled and legged mobile robots
    !  motion planning with obstacles, navigation, and exploration
    !  Prof. Oriolo http://www.diag.uniroma1.it/~oriolo/amr
    !  Medical Robotics (6 credits), next semester
    !  robot surgical systems, haptics, and more ...
    !  Prof. Vendittelli http://www.diag.uniroma1.it/~vendittelli
    !  Elective in Robotics (12 credits) or Control Problems in Robotics (6 credits)
    !  starting this semester
    !  4 modules of 3 credits (for CPR, MCER students take 2 modules out of the 4 in EiR)
    !  research-related subjects and seminars
    !  multiple teachers http://www.diag.uniroma1.it/~lanari/EIR/ElectiveinRobotics.html
    !  Robot Programming (lectures, not for credits!)
    !  robot programming using C++, ROS, NAO SDK as development frameworks
    !  see Prof. Nardi http://www.diag.uniroma1.it/~nardi/Didattica/CAI/robpro-free.html
    Robotics 1 20
    Robotics around the world...
    Springer Handbook of Robotics (2nd Edition, July 2016)

    Robotics 1 https://vimeo.com/173394878 21

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