Robotics

Scholar Year: 2019/2020 - 1S

Courses

Head Teacher Responsability Paulo Alexandre Fernandes Ferreira Head

Weekly workload Hours/week T TP P PL L TC EL OT TPL THE S Type of classes 3 2 Lectures Type Teacher Classes Hours Theorethical and Practical classes Totals 1 3,00 Paulo Ferreira   5,50 Prática Laboratorial Totals 1 2,00 Fernando Costeira   4,00

Teaching language

Portuguese

Intended learning outcomes (Knowledges, skills and competencies to be developed by the students)

On successful completion of the curricular unit, student will be able to:
•Understanding the structures of the robots as well as some types of industrial robots and their applications.
•Manipulating homogeneous transformation operators and apply them to the case of robots.
•Knowledge how determine the position of each joint to perform a desired robot tasks.
•Determining the kinematic robot model and apply this to the robot simulation problem.
•Knowledge and implement the robot path planning.
•Mathematically Model the movement of manipulators
•Knowledge and development of robot manipulators programs.
•Understanding the basic mechanical concepts, power transfer, sensors, terminal elements, motors, controllers and its architecture.

Syllabus

1 - Introduction to Robotics. Applications of industrial robot manipulators. Specifications of a robot.
2-Coordinate frames and homogeneous transformations. Position coordinates, orientation coordinates and
frames. Mappings: coordinates transformation. Operators: translation, rotation and homogeneous
transformations.
3 - Direct Kinematics. Coordinates of the links.
Actuators space, joint space and Cartesian coordinates. Convention for the reference placement. Denavit-Hartenberg (D-H) representation. Kinematic parameters. Euler transformation.
4 - Inverse Kinematics of the Manipulators.
5-Path Planning trajectories. Path planning in joint and Cartesian space. Trajectory planning in orientation and position.
6 - Robot control. PID Control, Dynamic Control, impedance control and visual control.
7 - The Robotic Industry. Sensors and actuators. Programming languages. Practical aspects of robots in industry.

Demonstration of the syllabus coherence with the UC intended learning outcomes

The contents are structured according to the skills listed in the objectives. Thus, it begins by addressing the essential tools used for the understanding, development and application of methodologies for robot modeling and simulation and programming. Subsequently, introduces the fundamental concepts in the field of robotics to provide the theoretical knowledge and practical procedures providing students with an understanding of the technologies used and the practical skills necessary for the installation, operation, modeling and program development for robots.

Teaching methodologies

•Lectures: exposure of matter with demonstrations, examples and exercises.
•Laboratory classes: assemblies for robot simulation and real robots similar with the used in the regional industry particularly in Automotive Industry. Development of robot programs.
•Assessment includes:
Two individual tests or exam carried out at the end of the course (70%).
Experimental works and reports (30%).

Demonstration of the teaching methodologies coherence with the curricular unit's intended learning outcomes

The practical classes are complemented with classes in laboratories where they apply theoretical concepts and implement the exercises previously held in the practical classes. Successfully completing the course the student should understand the theoretical and practical principles of robotic systems, including its constitution, the relationship between the different spaces coordinates of robot space between joints, engines and operating
or working, and the mathematical model describing them. Regarding the practical skills in handling tools and simulation of real systems the student mathematically analyzes and model robots in practical classes and simulates them. In laboratory classes

Primary Bibliography

Secondary Bibliography