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Robotics 2 Syllabus 2023-24

The document outlines the syllabus and program for the Robotics 2 course taught by Prof. Alessandro De Luca for the academic year 2023-24, detailing the relationship between lecture slides, course materials, and the reference textbook. It includes information on various topics covered in the course, such as advanced kinematics, dynamic modeling, and robot control, along with associated lecture slides and videos. The course is designed for 6 credits and utilizes the textbook 'Robotics: Modelling, Planning and Control' by Siciliano et al.

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Asadollah
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3 views2 pages

Robotics 2 Syllabus 2023-24

The document outlines the syllabus and program for the Robotics 2 course taught by Prof. Alessandro De Luca for the academic year 2023-24, detailing the relationship between lecture slides, course materials, and the reference textbook. It includes information on various topics covered in the course, such as advanced kinematics, dynamic modeling, and robot control, along with associated lecture slides and videos. The course is designed for 6 credits and utilizes the textbook 'Robotics: Modelling, Planning and Control' by Siciliano et al.

Uploaded by

Asadollah
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Syllabus and Program of Robotics 2

[Link]

Prof. Alessandro De Luca

This document describes the links between the contents of the lecture slides
used in the classroom and of other course material (all available as PDF files
on the web site) and the course program and associated parts
(chapters/sections) in the reference English textbook.

The name of the files with the lecture slides has the format “NN_filename.pdf”.
The number of slides in each file is given in parentheses. The presence of
accompanying videos (available in zipped groups on the web) is also indicated.

The course program is intended for 6 credits.

This updated version is the latest one and covers the program of the course in
the academic year 2023-24.

Textbook:
B. Siciliano, L. Sciavicco, G. Villani, G. Oriolo: “Robotics: Modelling, Planning
and Control”, Springer, 2009 (3rd Edition)
(available also in Italian)
B. Siciliano, L. Sciavicco, G. Villani, G. Oriolo: “Robotica: Modellistica,
pianificazione e controllo”, McGraw-Hill, 2008 (3a Edizione)

Version: April 17, 2025

Topics/Program Textbook Block of slides (and their number) + Related videos


[Link] (and their number) and other material
Program and --- 00_Introduction.pdf (28), including a sneak preview of
information the course with videos (some repeated also later in the
course material)
+ 00_Rob2_Videos.zip (17)
Advanced
kinematics
Kinematic 2.11 01_Calibration.pdf (16)
calibration + 01_Rob2_Videos.zip (3)
Redundant robots 2.10.2 02_KinematicRedundancy_1.pdf (51)
3.4 + 02_1_Rob2_Videos.zip (11)
3.5
App. A.7 02_KinematicRedundancy_2.pdf (39)
App. A.8 + 02_2_Rob2_Videos.zip (9)
Dynamic modeling
of manipulators
Euler-Lagrange 7.1 03_LagrangianDynamics_1.pdf (29)
dynamic model 7.3 04_LagrangianDynamics_2.pdf (15)
App. B
Properties, 7.2 05_LagrangianDynamics_3.pdf (38)
extensions, and 7.4 05b_LinearParametrizationIdentification.pdf (23)
uses of dynamic 7.6 + 05_Rob2_Videos.zip (6)
models 7.7, 7.8
Newton-Euler 7.5 06_NewtonEulerDynamics.pdf (20)
dynamic model
Robot control
Introductory topics 8.1 07_IntroControl.pdf (31)
App. C.2 + 07_Rob2_Videos.zip (8)
App. C.3
Position regulation 8.2 08_Regulation.pdf (40)
in joint space (free 8.3 (parts) 09_IterativeLearning.pdf (17)
motion) 8.5 (intro) + 09_Rob2_Videos.zip (2)
8.5.1 PIDsaturated_Kelly.pdf
Trajectory tracking 8.5.2 10_TrajectoryControl.pdf (35)
in joint space (free 8.5.3 +10_Rob2_Videos.zip (2)
motion) 8.5.4 11_RobustControl.pdf (24) – for personal reading
8.7 12_AdaptiveControl.pdf (22)
AdaptivePDgravity_Tomei.pdf
Cartesian control 8.6 13_CartesianControl.pdf (15)
(free motion)
Interaction All Chap. 9 14_EnvironmentInteraction.pdf (44)
modeling and except: + 14_Rob2_Videos.zip (5)
control 9.4.3 15_ImpedanceControl.pdf (21)
9.5.2 + 15_Rob2_Videos.zip (3)
9.7.1 16_HybridControl.pdf (33)
+ 16_Rob2_Videos.zip (4)
ForceControl_EppingerSeering.pdf
Visual servoing 10.1 17_VisualServoing.pdf (53)
(kinematic 10.2 (parts) + 17_Rob2_Videos.zip (23)
approach) 10.3.2
10.3.3
10.5 (parts)
10.6
10.7.2
10.8.2
10.9
Seminars
Robot actuators --- 18_ActuationFaults.pdf (29)
fault detection and + 18_Rob2_Videos.zip (1)
isolation
Model-based torque --- TorqueFeedIndRob_VerdonckSwevers.pdf
control in industrial
robots

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