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1 Robotics 1 Iformatio ad Program Prof. Alessadro De Luca Robotics 1 1
2 Robotics /19 First semester (12 weeks) Moday, September 24, 2018 Friday, December 21, 2018 Courses of study (with this course madatory or preset i optioal group) Master i Artificial Itelligece ad Robotics (MARR) Master i Cotrol Egieerig (MCER) Credits: 6 54 hours of classes + 6 of tests/laboratory, 90 of idividual study Classes Moday 8:00-10:00 (room B2, Via Ariosto 25) Friday 10:00-13:00, with break (room B2) Robotics 1 2
3 Cotacts ad materials Office hours Tuesday 14:00-15:30 c/o A-210, left wig, floor 2, DIAG, Via Ariosto 25 ad/or cotact me by (with some advace) check my kow travel dates at.../deluca/travel.php Course website Extra material (pdf of lecture slides, videos, writte exams, ) available o the course website lecture slides ready, but with updates durig the course Video DIAG Chael playlist Robotics 1 full course 2014/15 videos 30 (+1) videos i classroom, about 41 h, > idepedet views YouTube Chael with more videos of research performed i the Lab Robotics 1 3
4 Geeral iformatio Prerequisites self-cotaied course, without special prerequisites elemetary kowledge o kiematics ad automatic cotrol is useful Aims tools for kiematic aalysis, trajectory plaig, ad programmig of motio tasks for robot maipulators i idustrial ad service eviromets Textbook B. Siciliao, L. Sciavicco, L. Villai, G. Oriolo: Robotics: Modellig, Plaig ad Cotrol, 3rd Editio, Spriger, 2009 Other strictly related courses Robotics 2: II semester, 6 credits Autoomous ad Mobile Robotics: I semester (ext year!), 6 credits Robotics 1 4
5 Programmig robot motio Teachig Cartesia poses ad playig them back video KUKA LBR iiwa robot with 7 revolute joits Robotics 1 5
6 Programmig robot motio Executig omial trajectories ad complyig with ucertaities video Robotics 1 6
7 Programmig robot compliace Cotrolled reactio to applied forces/torques at robot ed-effector video video Robotics 1 7
8 Programmig robot motio Teachig tasks by demostratio (kiesthetic learig) sketch of the origial idea a first eed & use of safe physical Huma-Robot Iteractio (phri) video video the workig idustrial solutio More videos o the LBR iiwa robot: KUKA Robotics YouTube Chael Robotics 1 8
9 Program Itroductio Maipulator arms (ad some mobile robots) Idustrial ad service applicatios Compoets Mechaical structures Actuators Sesors proprioceptive (ecoder, tacho) exteroceptive (force/torque, tactile, ultrasoud, ifrared, laser, visio) Kiematic models Miimal represetatios of orietatio Direct ad iverse kiematics of robot maipulators Differetial kiematics: aalytic ad geometric Jacobias Statics: Trasformatios of forces Robot sigularities Robotics 1 9
10 Program (cotiued) Plaig of motio trajectories Cotrol Trajectory plaig i the joit space for robot maipulators Trajectory plaig i the task/cartesia space Cotrol system architectures Kiematic cotrol laws (i joit or i task/cartesia space) Idepedet joit axis cotrol laws (P, PD, PID) Programmig ad Simulatio Programmig laguages for idustrial robots (KRL) Use of Matlab/Simulik ad VREP Demos i the lab with the KUKA robots (6-dof KR5; 7-dof LWR4+) ad the Uiversal Robots (6-dof UR-10, with o-spherical wrist) Robotics 1 10
11 Robot maipulators available i the DIAG Robotics Lab (S-218) video video KUKA KR-5 KUKA LWR4+ (lightweight, about 14 kg) Robotics 1 11
12 Robot maipulators available i the DIAG Robotics Lab (S-218) commercial video upo arrival (July 2016) Uiversal Robots UR-10 (= 10 kg of payload) Robotics 1 12
13 Trackig a Cartesia trajectory with hard positio/velocity bouds o robot motio video DIAG-Sapieza/Staford, IEEE ICRA 2012 Robotics 1 13
14 Robot cotrol by visual servoig with limited joit motio rage video INRIA Rees, IEEE/RSJ IROS 2011 Robotics 1 14
15 Sesor-based robot cotrol i dyamic eviromets (coexistece with huma) video DIAG-Sapieza/Staford, IEEE ICRA 2012 Robotics 1 15
16 Safe physical huma-robot iteractio (sesor-less (!) ad o a covetioal idustrial robot) video DIAG-Sapieza, IEEE ICRA 2013 Robotics 1 16
17 Huma-robot collaboratio (with a real F/T ad a virtual sesor to distiguish cotacts) video DIAG-Sapieza, J. of Mechatroics, 2018 Robotics 1 17
18 Exams ad beyod Type homework/classroom test + writte test + oral exam if eeded Schedule (sessios of 2018/19, will ope soo i INFOSTUD) 2 sessios at the ed of this semester Jauary 11 ad February 5, sessios at the ed of ext semester Jue 6 ad July 11, sessio after the summer break September 11, extra sessios oly for studets of previous years, part-time, etc. i March ad October 2019 Registratio to exams o ifostud Master theses available at DIAG Robotics Lab: Robotics 1 18
19 Preview of Robotics 2 (ext semester) Advaced kiematics / Robot dyamics Calibratio Redudat robots Dyamic modelig: Lagrage ad (recursive) Newto-Euler methods Idetificatio of dyamic parameters Cotrol techiques Free motio liear ad oliear feedback cotrol, iterative learig, robust cotrol, adaptive cotrol Costraied motio impedace ad hybrid force-velocity cotrol Visual servoig (kiematic approach) Special topics Diagosis ad isolatio of robot actuator faults Huma-robot collisio avoidace & detectio, with safe robot reactio Robotics 1 19
20 Other courses about Robotics ad Cotrol... Autoomous ad Mobile Robotics (6 credits), ext year, I semester kiematics, plaig, cotrol of wheeled ad legged mobile robots motio plaig with obstacles, avigatio, ad exploratio Prof. Oriolo Medical Robotics (6 credits), ext semester robot surgical systems, haptics, ad more... Prof. Vedittelli Elective i Robotics (12 credits) or Cotrol Problems i Robotics (6 credits) startig this semester 4 modules of 3 credits (for CPR, MCER studets take 2 modules out of the 4 i EiR) research-related subjects ad semiars multiple teachers Robot Programmig (lectures, ot for credits!) robot programmig usig C++, ROS, NAO SDK as developmet frameworks see Prof. Nardi Robotics 1 20
21 Robotics aroud the world... Spriger Hadbook of Robotics (2 d Editio, July 2016) Robotics
Information and Program
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
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