Studying at the University of Verona
Here you can find information on the organisational aspects of the Programme, lecture timetables, learning activities and useful contact details for your time at the University, from enrolment to graduation.
Study Plan
This information is intended exclusively for students already enrolled in this course.If you are a new student interested in enrolling, you can find information about the course of study on the course page:
Laurea magistrale in Computer Engineering for intelligent Systems - Enrollment from 2025/2026The Study Plan includes all modules, teaching and learning activities that each student will need to undertake during their time at the University.
Please select your Study Plan based on your enrollment year.
1° Year
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2° Year It will be activated in the A.Y. 2025/2026
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3 modules among the following| Modules | Credits | TAF | SSD |
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3 modules among the following| Modules | Credits | TAF | SSD |
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4 modules among the following:
- 1st year: Advanced visual computing and 3d modeling, Computer vision, Embedded & IoT systems design, Embedded operating systems, Robotics
- 2nd year: Advanced control systemsLegend | Type of training activity (TTA)
TAF (Type of Educational Activity) All courses and activities are classified into different types of educational activities, indicated by a letter.
Robotics (2024/2025)
Teaching code
4S009006
Teacher
Coordinator
Credits
6
Language
English
Scientific Disciplinary Sector (SSD)
ING-INF/04 - SYSTEMS AND CONTROL ENGINEERING
Period
Semester 1 dal Oct 1, 2024 al Jan 31, 2025.
Courses Single
Authorized
Learning objectives
The course will provide the tools to program complex robotic systems focusing on perception, planning and control, through an approach that unifies theoretical and practical aspects. The student must demonstrate the ability to understand: the forward and inverse kinematics of a robotic manipulator; the differential kinematics, the design of the controllers in the joint and operational space.
Prerequisites and basic notions
Physics (Newtonian Mechanics), Algebra, Control Theory
Program
- Direct kinematics of a manipulator: rigid body kinematics, Poisson's law, properties of rotation matrices, homogeneous transformations, kinematics computation using DH convention
- Differential kinematics: Analytical Jacobian, existence, uniqueness, and properties of the angular velocity vector, velocity propagation, geometric Jacobian, applications in kinematic inversion, singularity, and static force computation
- Inverse kinematics of a manipulator: intuitive inverse kinematics, inverse kinematics of structures with spherical wrist, iterative algorithms for inverse kinematics based on analytical or geometric Jacobian
- Management of kinematic redundancy: redundant kinematic structures, inverse kinematics of redundant structures using geometric Jacobian and optimality principles.
- Control of a robot in joint space: modeling of electric actuators for robots, classic and advanced single-joint motion control schemes, cascade control, feed-forward control.
- Control of a robot in Cartesian space: schemes for motion and orientation control in Cartesian space
Didactic methods
The course is carried out in approximately 48 hours of face-to-face lessons in which the fundamental theoretical concepts will be introduced and exercises will be solved both on paper or with matlab, fostering discussion with the students.
Learning assessment procedures
The exam will consist of
Part 1. carrying out exercises at the whiteboard or on paper
Part 2. oral questions on theoretical topics
Evaluation criteria
The mark expressed out of thirty will be calculated as a weighted average of the evaluations relating to parts 1 and 2.
Criteria for the composition of the final grade
The course is offered as a single module.
Exam language
English
