Robotics
Keywords |
Classification |
Keyword |
OFICIAL |
Automation and Control |
Instance: 2023/2024 - 2S
Cycles of Study/Courses
Acronym |
No. of Students |
Study Plan |
Curricular Years |
Credits UCN |
Credits ECTS |
Contact hours |
Total Time |
M.EEC |
117 |
Syllabus |
1 |
- |
6 |
45,5 |
|
Teaching Staff - Responsibilities
Teaching language
Suitable for English-speaking students
Objectives
A. Understand the operation and use of robotic systems.
B. Master the technological aspects involved in the design, operating characteristics, programming and
robotic system applications.
Learning outcomes and competences
In the end students will be able to:
- Know the different types of sensors used in robotics.
- Understand the different modules that make up a mobile robot.
- Perform an analysis of the direct and inverse kinematics of a manipulator.
- Understand speed, position and force control algorithms.
- Understand the various components of a cell or a robotic system.
- Analyze the different kinematic configurations of mobile robots.
- Program industrial manipulators.
Working method
Presencial
Pre-requirements (prior knowledge) and co-requirements (common knowledge)
Algebra, matrix calculus, trigonometry.
Program
I. Introduction to robotics, its evolution and future trends.
II. Different configurations of mobile robots and manipulators.
III. Sensors and actuators normally used in robotics. Inertial systems.
IV. Principles of Robot Control: Speed control; Position control; Force control
V. Representation of rotations (matrices, quaternions, Euler angles)
VI. Homogeneous transformations
VII. Direct kinematics analysis of manipulators by the Denavit-Hartenberg method
VIII. Inverse kinematics analysis of manipulators.
IX. The Jacobian of a manipulator. Singularities, velocities, forces and binaries.
X. Simulators, architectures and tools to support the development of robotic applications.
XI. Programming languages of manipulators and type of trajectories.
XII. Robotic cells. Collaborative cells and collaborative manipulators.
XIII. Analysis of the kinematics of mobile robots.
Mandatory literature
Mark W. Spong;
Robot modeling and control. ISBN: 0-471-64990-2
Teaching methods and learning activities
* The teaching of this course is developed in theoretical and laboratory lessons.
* Lectures: formal theoretical basis exhibition, wherever possible with real application examples.
* Laboratory/practical: exploration of some existing software and implementation of practical work with real situations
(work in group).
* It is proposed a practical work for continuous evaluation and development, which must have an individual final
report/presentation. The work consists of the development, in simulation, of a robotic cell and programming the
manipulator to perform a specified task. Later the developed program could be implemented and tested in a real
manipulator.
Evaluation Type
Evaluation with final exam
Assessment Components
Designation |
Weight (%) |
Exame |
75,00 |
Teste |
25,00 |
Total: |
100,00 |
Amount of time allocated to each course unit
Designation |
Time (hours) |
Estudo autónomo |
80,00 |
Frequência das aulas |
45,50 |
Trabalho escrito |
36,50 |
Total: |
162,00 |
Eligibility for exams
General rules applied at FEUP, presence and participation in practical classes, average of 7 values in the tests carried out relative to the distributed evaluation.
Calculation formula of final grade
(Final exam)*0.75 + (average of tests taken in practical classes)*0.25
Special assessment (TE, DA, ...)
The general rules applied at FEUP.
Classification improvement
In the grade improvement examination, only the final examination component can be improved. The distributed assessment component cannot be upgraded.