Space and astronautical engineering

This course is intended for the students of the Master Degree of Science in Space and Astronautical Engineering to provide a broad overview of space robotic systems. Topics include the fundamentals of kinematics, dynamics, and control of robot manipulators and rovers. The table of contents of the course is the following: 1. Introduction to Space Robotic Systems 2. Space and planetary environment ---- Manipulators ---- 3. Introduction to Manipulators 4. Degrees of freedom and workplace 5. Robot end effector 6. Spatial description of a rigid body 7. Robotic reference frames: Denavit–Hartenberg (D-H) parameters 8. Manipulator kinematics I 9. Manipulator kinematics II 10. Inverse manipulator kinematics 11. Jacobians: velocities 12. Jacobians: static forces 13. Manipulator Dynamics 14. Trajectory generation 15. Linear control of manipulator 16. Non-linear control of manipulator 17. Applications of Manipulators in space ---- Rovers ---- 18. Mobility on planetary surfaces 19. Vehicle-ground: contact pressure and traction 20. Wheeled vehicles and rovers I 21. Wheeled vehicles and rovers II 22. Dynamical equations of wheeled vehicles 23. Performances of wheeled vehicles motors 24. Trajectory control and definition 25. Ideal and articulated steering 26. Non-wheeled vehicles ---- Actuators and Sensors ---- 27. Actuation of space robots 28. Actuators 29. Sensors 30. Applications of rovers for space exploration

Basic Courses in Aeronautical and Space Engineering, or in Artificial intelligence and Robotics

The educational material are uploaded on Google Classroom and it is based on the following references. 1) manipulators: Craig, J.J., 2009. Introduction to robotics: mechanics and control. Pearson Education Inc. Upper Saddle River, NJ. (https://www.pearson.com/us/higher-education/product/Craig-Introduction-to-Robotics-Mechanics-and-Control-3rd-Edition/9780201543612.html) 2) rovers and planetary mobility: Genta, G. (2011). Introduction to the mechanics of space robots (Vol. 26). Springer Science & Business Media. (https://www.springer.com/gp/book/9789400717954). 3) homework and MATLAB programs: Corke, P., 2017. Robotics, vision and control: fundamental algorithms in MATLAB® second, completely revised (Vol. 118). Springer. Other books that can be used for detailed studies are: - Siciliano, B. and Khatib, O. eds., 2016. Springer handbook of robotics. Springer. - Xu, Yangsheng, and Takeo Kanade, eds. Space robotics: dynamics and control. Vol. 188. Springer Science & Business Media, 1992. (https://www.springer.com/de/book/9780792392651).

As a result of the emergency caused by the Covid 19 pandemic, the course is based on the blended learning. The lectures will consist in face-to-face classroom practices with a reduced number of students, and will be simultaneously presented online through video conferencing (e.g., Zoom, GoogleMeet). To attend the lectures in the classroom, the students will need to follow Sapienza's guidelines. The educational material will be recorded and shared with the students through Google Classroom.

In-person attendance is recommended. Lecture recordings are provided through Google classroom.

The end-of-course evaluation is a 1-h oral exam with the exam committee. The test consists of: 1) a discussion of the manipulator and rover exercises proposed during the course; 2) a general discussion regarding the main topics of the course (e.g., manipulator kinematics and dynamics, mobility on planetary surfaces). The homework will be completed by the students during the course (without any specific deadline), through the implementation of algorithms based on the techniques presented during the course. The students will report the results of the homework during the oral exam only.

The course is held in person in the classroom. Lectures are recorded and made available online via videoconferencing platforms (e.g., Zoom). All teaching materials, including lecture recordings, will be uploaded and accessible to students through Google Classroom.

This course is intended for the students of the Master Degree of Science in Space and Astronautical Engineering to provide a broad overview of space robotic systems. Topics include the fundamentals of kinematics, dynamics, and control of robot manipulators and rovers. The table of contents of the course is the following: 1. Introduction to Space Robotic Systems 2. Space and planetary environment ---- Manipulators ---- 3. Introduction to Manipulators 4. Degrees of freedom and workplace 5. Robot end effector 6. Spatial description of a rigid body 7. Robotic reference frames: Denavit–Hartenberg (D-H) parameters 8. Manipulator kinematics I 9. Manipulator kinematics II 10. Inverse manipulator kinematics 11. Jacobians: velocities 12. Jacobians: static forces 13. Manipulator Dynamics 14. Trajectory generation 15. Linear control of manipulator 16. Non-linear control of manipulator 17. Applications of Manipulators in space ---- Rovers ---- 18. Mobility on planetary surfaces 19. Vehicle-ground: contact pressure and traction 20. Wheeled vehicles and rovers I 21. Wheeled vehicles and rovers II 22. Dynamical equations of wheeled vehicles 23. Performances of wheeled vehicles motors 24. Trajectory control and definition 25. Ideal and articulated steering 26. Non-wheeled vehicles ---- Actuators and Sensors ---- 27. Actuation of space robots 28. Actuators 29. Sensors 30. Applications of rovers for space exploration

Basic Courses in Aeronautical and Space Engineering, or in Artificial intelligence and Robotics

The educational material are uploaded on Google Classroom and it is based on the following references. 1) manipulators: Craig, J.J., 2009. Introduction to robotics: mechanics and control. Pearson Education Inc. Upper Saddle River, NJ. (https://www.pearson.com/us/higher-education/product/Craig-Introduction-to-Robotics-Mechanics-and-Control-3rd-Edition/9780201543612.html) 2) rovers and planetary mobility: Genta, G. (2011). Introduction to the mechanics of space robots (Vol. 26). Springer Science & Business Media. (https://www.springer.com/gp/book/9789400717954). 3) homework and MATLAB programs: Corke, P., 2017. Robotics, vision and control: fundamental algorithms in MATLAB® second, completely revised (Vol. 118). Springer. Other books that can be used for detailed studies are: - Siciliano, B. and Khatib, O. eds., 2016. Springer handbook of robotics. Springer. - Xu, Yangsheng, and Takeo Kanade, eds. Space robotics: dynamics and control. Vol. 188. Springer Science & Business Media, 1992. (https://www.springer.com/de/book/9780792392651).

As a result of the emergency caused by the Covid 19 pandemic, the course is based on the blended learning. The lectures will consist in face-to-face classroom practices with a reduced number of students, and will be simultaneously presented online through video conferencing (e.g., Zoom, GoogleMeet). To attend the lectures in the classroom, the students will need to follow Sapienza's guidelines. The educational material will be recorded and shared with the students through Google Classroom.

In-person attendance is recommended. Lecture recordings are provided through Google classroom.

The end-of-course evaluation is a 1-h oral exam with the exam committee. The test consists of: 1) a discussion of the manipulator and rover exercises proposed during the course; 2) a general discussion regarding the main topics of the course (e.g., manipulator kinematics and dynamics, mobility on planetary surfaces). The homework will be completed by the students during the course (without any specific deadline), through the implementation of algorithms based on the techniques presented during the course. The students will report the results of the homework during the oral exam only.

The course is held in person in the classroom. Lectures are recorded and made available online via videoconferencing platforms (e.g., Zoom). All teaching materials, including lecture recordings, will be uploaded and accessible to students through Google Classroom.