Academic year 2024-25 (second semester)

Lecture slides
Videos in the slides
Other material
Texts of exams

VIDEO LECTURES. Video recordings of the course lectures given (in class or remotely, due to the Covid-19 situation) during the academic year 2019-20 are available in the Robotics 2 playlist of the Video DIAG - Sapienza YouTube channel. There are 37 video lectures for a total of about 52 hours. These video lectures can be used also for the current course (check however the latest updates of the slides). The original slides associated to the recorded lectures (with further information and links to the individual videos) are available in this page. These video lectures received so far about 65K independent views (as of August 2024).

Lecture slides (with number of slides and date of the latest version uploaded)

Syllabus_ProgramRob2.pdf (April 21, 2024)

00_Introduction.pdf (27 slides; February 28, 2024)

01_Calibration.pdf (16 slides; February 26, 2020)

02_KinematicRedundancy_1.pdf (48 slides; April 20, 2024)

02_KinematicRedundancy_2.pdf (39 slides; March 21, 2024)

03_LagrangianDynamics_1.pdf (29 slides; April 14, 2024)

04_LagrangianDynamics_2.pdf (15 slides; March 26, 2024)

05_LagrangianDynamics_3.pdf (36 slides; March 31, 2024)

05b_LinearParametrizationIdentification.pdf (23 slides; April 5, 2023)

06_NewtonEulerDynamics.pdf (18 slides; April 14, 2024)

07_IntroControl.pdf (31 slides; April 17, 2024)

08_Regulation.pdf (40 slides; April 21, 2024)

09_IterativeLearning.pdf (17 slides; May 3, 2023)

10_TrajectoryControl.pdf (35 slides; May 3, 2023)

11_RobustControl.pdf (24 slides; April 30, 2010) -- for personal reading

12_AdaptiveControl.pdf (22 slides; May 10, 2023)

13_CartesianControl.pdf (15 slides; May 10, 2024)

14_EnvironmentInteraction.pdf (44 slides; May 12, 2023)

15_ImpedanceControl.pdf (21 slides; May 12, 2023)

16_HybridControl.pdf (33 slides; May 24, 2022)

17_VisualServoing.pdf (53 slides; May 12, 2020)

18_ActuationFaults.pdf (29 slides; May 16, 2020)

Videos (shown during the lectures)

Syllabus_VideoRob2.pdf (February 28, 2024)

00_Rob2_Videos.zip
01_Rob2_Videos.zip
02_1_Rob2_Videos.zip
02_2_Rob2_Videos.zip
05_Rob2_Videos.zip 
07_Rob2_Videos.zip
09_Rob2_Videos.zip
10_Rob2_Videos.zip
14_Rob2_Videos.zip
15_Rob2_Videos.zip
16_Rob2_Videos.zip
17_Rob2_Videos.zip
18_Rob2_Videos.zip
19_Rob2_Videos.zip
20a_Rob2_Videos.zip
20b_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 27, 2024)
Identification 1R robot (Matlab, May 1, 2018, by Claudio Gaz)

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

Syllabus_WrittenExamsRob2.pdf (November 12, 2024)

Robotics2_24.09.19.pdf
Robotics2_24.09.19.pdf (with solution)
Robotics2_24.07.08.pdf (with solution)
Robotics2_24.06.12.pdf (with solution)
Robotics2_Midterm_Test_2023-24_24.04.24.pdf (with solution)
Robotics2_24.02.16.pdf
Robotics2_24.01.24.pdf
Robotics2_23.09.11.pdf
Robotics2_23.07.10.pdf
Robotics2_23.06.12.pdf (with solution)
Robotics2_Midterm_Test_2022-23_23.04.19.pdf (with solution)
Robotics2_23.03.24.pdf
Robotics2_23.02.13.pdf (with solution)
Robotics2_23.01.25.pdf (with solution)
Robotics2_22.10.21.pdf (with solution)
Robotics2_22.09.09.pdf (with solution)
Robotics2_22.07.08.pdf (with solution)
Robotics2_22.06.10.pdf (with solution)
Robotics2_Midterm_Test_2021-22_22.04.13.pdf (with solution)
Robotics2_22.02.03.pdf (with solution)
Robotics2_22.01.11.pdf (with solution)
Robotics2_21.10.19.pdf
Robotics2_21.09.10.pdf (with solution)
Robotics2_21.07.12.pdf (with solution)
Robotics2_21.06.11.pdf (with solution)
Robotics2_Remote_Midterm Test_2020-21_21.04.14.pdf (with solution)
Robotics2_21.02.04.pdf (with solution)
Robotics2_21.01.12.pdf (with solution)
Robotics2_20.10.23.pdf
Robotics2_20.09.11.pdf (with solution)
Robotics2_20.07.15.pdf (with solution)
Robotics2_20.06.05.pdf (with solution)
Robotics2_Remote_Midterm Test_2019-20_20.04.15.pdf (with solution)
Robotics2_20.02.12.pdf
Robotics2_20.01.07.pdf
Robotics2_19.09.11.pdf (with solution)
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)
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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