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Information
! Second semester
! Monday, February 20 – Wednesday, May 24, 2017
! Courses of study (code)
! Master in Control Engineering (MCER)
! Master in Artificial Intelligence and Robotics (MARR)
! Credits: 6
! 60 hours of classes, 75 of individual study
! New timing! Classes
! Monday 08:00-10:00 (room B2, Via Ariosto 25)
! Wednesday 14:00-16:00 (room B2, Via Ariosto 25)
! Wednesday 16:00-18:00 (room B2, Via Ariosto 25)
Robotics 2 2
Contacts
! Office hours
! every Tuesday 12:00-13:30 c/o office A-210, left wing, floor 2,
DIAG, Via Ariosto 25
! and/or by email (with some advance)
! look at the tab “My travel dates” on my web site
! Email: deluca@diag.uniroma1.it
! URL: http://www.diag.uniroma1.it/~deluca
! Video channel: http://www.youtube.com/user/RoboticsLabSapienza
! Course material (lecture slides, videos shown, written exams, …)
! http://www.diag.uniroma1.it/~deluca/rob2_en.html
! lecture slides ready (but possibly updated during the course)
! Registration to exams
! http://www.uniroma1.it/studenti/infostud/
Robotics 2 3
General information
! Prerequisites
! Robotics 1 as prerequisite
! Aims
! advanced kinematics & dynamic analysis of robot manipulators
! design of sensory feedback control laws for free motion and
interaction tasks
! Textbook
! B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics: Modelling,
Planning and Control, 3rd Edition, Springer, 2009
! Related courses
! Autonomous and Mobile Robotics: this semester, 6 credits
! Elective in Robotics: this year, 12 credits (four modules)
! Medical Robotics: this semester, 6 credits
Robotics 2 4
An international textbook...
B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics: Modelling,
Planning and Control, 3rd Edition, Springer, 2009
Robotics 2 5
Exams and Master Thesis
! Type of exam
! classroom midterm test (qualifies for final project)
! written test + oral part (or final project + oral presentation)
! Schedule for academic year 2016/17 (already open in infostud)
! 2 sessions at the end of this semester
! June 6, 9:00, room B2 and July 11, 9:00, room B2
! 1 session after the summer break
! September 11, 9:00, room B2
! 2 extra sessions only for students of previous years, part-time, etc.
! April 11 and October 27, 2017
! 2 sessions at the end of the first semester of next year
! January and February 2018
! Master theses
! available at DIAG Robotics Lab: http://www.diag.uniroma1.it/~labrob
! with Prof. G. Oriolo and Prof. M. Vendittelli
Robotics 2 6
Program - 1
! Advanced kinematics
! kinematic calibration
! kinematic redundancy and related control methods
! Dynamic modeling of manipulators
! direct and inverse dynamics
! Euler-Lagrange formulation
! Newton-Euler formulation
! properties of the dynamic model
! identification of dynamic parameters
! inclusion of flexibility at the joints
! inclusion of geometric constraints
Robotics 2 7
Program - 2
! Design of feedback control laws
! free motion tasks
! set-point regulation
! PD with gravity cancellation or compensation
! PID or saturated PID
! iterative learning
! trajectory tracking
! feedback linearization and input-output decoupling
! passivity-based control
! adaptive control
! robust control
! interaction tasks with the environment
! compliance control
! impedance control
! hybrid force/velocity control
Robotics 2 8
Program - 3
! Exteroceptive feedback control laws
! image- and position-based visual servoing
! kinematic treatment
! Seminars (a selection from the following topics)
! diagnosis of robot actuator faults
! physical Human-Robot Interaction (pHRI)
! safety: sensorless collision detection and robot reaction
! coexistence: collision avoidance while sharing workspace
! collaboration: intentional exchange of contact forces
! minimum-time trajectory planning along geometric paths
! force- and vision-based control in industrial robots
! simulation tools (Matlab/Simulink, V-REP)
Robotics 2 9
Sneak preview videos
! kinematic redundancy and related control methods
! block #2, slides 50-55 (Task Priority, HQP) + slides 68-76 (SNS)
! robot dynamic modeling and identification
! block #5, slides 17-30
! motion control in the presence of joint flexibility or
variable stiffness actuation
! modeling: block #5, slides 14-16 (and beyond)
! control: block #10, slide 10 & block #15, slides 2-10
! safe physical human-robot interaction & collaboration
! block #14, slide 34 + block #15, slides 2-10 (generalized version)
! block #19, slides 39-45 + block #20, slides 27-28
Robotics 2 10
Kinematic control and redundancy
KUKA LWR4 robot video IROS 2012
SNS algorithm for handling “hard” limits in the joint (and Cartesian) space
Robotics 2 11
Kinematic control and redundancy
HRP-2 humanoid robot video @LAAS/CNRS Toulouse
HQP approach for multiple equality and inequality tasks with priorities
Robotics 2 12
Dynamic modeling and identification
data acquisition 2 videos ICRA 2014 @DIAG Robotics Lab model validation
for identification by torque prediction
Robotics 2
video 13
Dynamic modeling and identification
e.g., linear parametrization of gravity term in robot dynamic model
g1 value [Nm]
g5 value [Nm]
0.5
0 0
−0.5
−1 −0.5
0 5 10 15 20 0 5 10 15 20
40 0.3
g2 value [Nm]
g6 value [Nm]
20 0.2
0 0.1
−40 −0.1
0
identified through
0 5 10 15 20 0 5 10 15 20
−3
x 10
experiments
20 4
g3 value [Nm]
g7 value [Nm]
10
2
0
0
−10
prediction/evaluation on 4
g4 value [Nm]
2
−2
Robotics 2 14
−4
0 5 10 15 20
Time [s]
Dynamic modeling and identification
complete dynamic model estimation vs. joint torque sensor measurement
4 1 4 1
τ1 [Nm]
τ5 [Nm]
τ1 [Nm]
τ5 [Nm]
2 2
0 0
0 0
−2 −1 −2 −1
0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25
50 0.5 50 0.5
τ [Nm]
τ6 [Nm]
0
τ2 [Nm]
τ6 [Nm]
0
0 0
2
−0.5 −0.5
−50 −1 −50 −1
0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25
20 1 20 1
τ [Nm]
τ7 [Nm]
0
τ3 [Nm]
τ7 [Nm]
0
0 0
3
−1 −1
−20 −2 −20 −2
0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25
Time [s] Time [s]
5 5
τ4 [Nm]
actual (filtered) torques
τ4 [Nm]
−5 −5
0 5 10 15 20 25 0 5 10 15 20 25
Time [s] Time [s]
without the use of a joint friction model including an identified joint friction model
Robotics 2 15
Motion control under joint flexibility
2 videos @DLR München
Robotics 2 16
Motion control with VSA
Robotics 2
compliant motion with Variable Stiffness Actuators 17
Safe human-robot collaboration
video IROS 2013 @DIAG Robotics Lab
Robotics 2 18
Physical human-robot interaction control
video ICRA 2015 @DIAG Robotics Lab
Robotics 2 19
Recent and on-going
EU research projects
! FP7 SAPHARI (2011-2015)
! Safe and Autonomous Physical
Human-Aware Robot Interaction
! www.saphari.eu