Robotic Manipulators

Code:

PDEEC0052

Acronym:

RM

Keywords
Classification	Keyword
OFICIAL	Electrical and Computer Engineering

Instance: 2023/2024 - 1S

Active?	Yes
Responsible unit:	Department of Electrical and Computer Engineering
Course/CS Responsible:	Doctoral Program in Electrical and Computer Engineering

Cycles of Study/Courses

Acronym	No. of Students	Study Plan	Curricular Years	Credits UCN	Credits ECTS	Contact hours	Total Time
PDEEC	5	Syllabus	1	-	6	42	162

Teaching language

English

Objectives

This graduate course on Robotics Manipulators aims to give the student the ability to understand and apply the recent advances in this field. There is a text book together with a list of selected original research papers in order to allow the students to follow the advances in the addressed topics. The course main topics are: rigid body dynamics, rotation representation, forward and inverse kinematics, the Jacobian, path and trajectory planning, joint control, dynamics, multivariable control, advanced external sensors, rapid teaching and programming interfaces.

Learning outcomes and competences

 

It is expected to endow the students with skills to:

 

- identify, analyze and describe the direct and inverse kinematics equations for the different configurations of a robot manipulator;
- manipulate the different orientation representations of a rigid body and identify the most appropriate for each problem;
- obtain solutions for the trajectories of the robot's tool in both the workspace and in the joint space;
- program the operation of a manipulator using the different programming languages available

 

Working method

Presencial

Program

Rigid body dynamics a. Rigid body dynamics b. Rotation representation c. Quaternions 2. Forward and inverse kinematics a. The Denavit-Hartenberg convention. b. Inverse kinematics. 3. The Jacobian a. Skew simetric matrices. b. Derivation of the Jacobian. c. Singularities. d. Static force/torque relationships. e. Inverse velocity and acceleration. f. Manipulability. 4. Path and trajectory planning a.Trajectory planning. b. Potential fields. c. Probabilistic roadmap. 5. Joint control a. Actuator dynamics. b. Joint model. c. Set-point tracking d. PD, PID, Feedforward and state space design. 6. Manipulator dynamics a. Equations of motion. b. Properties of robot dynamic equations. 7. Advanced external sensors a. Force/torque sensors. b. Vision based sensors. 8. Rapid teaching and programming interfaces a. Programming by demonstration. b. Programming using advanced input-output devices. c. Using CAD files

Mandatory literature

Spong, Mark W.; Robot modeling and control. ISBN: 0-471-64990-2

Teaching methods and learning activities

The course will be organized in one weekly lecture and practical/lab periods. During the lectures the course topics will be presented. The practical/lab periods will be used for solving exercises and for the development of the assignments.

Software

SimTwo
Matlab

keywords

Technological sciences > Engineering > Control engineering > Robótica Robotics
Technological sciences > Engineering > Electrical engineering

Evaluation Type

Distributed evaluation without final exam

Assessment Components

Designation	Weight (%)
Defesa pública de dissertação, de relatório de projeto ou estágio, ou de tese	40,00
Trabalho laboratorial	60,00
Total:	100,00

Calculation formula of final grade

Grading and evaluation is based on the following scheme: Project: 60% Project Presentation: (20%) Project Discussion (20%) Grading will be from 0 to 20. A Passing grade corresponds to a minimum of 10.

Examinations or Special Assignments

The workload of the course consists of an individual project with the respective project report, the project presentation and discussion. A project report is required with a minimum of 6 pages and a maximum of 10 pages. Commented code and illustrative results must be reported in an additional file. The projects will be presented in special sessions of the course.

Special assessment (TE, DA, ...)

The students will be subjected to all evaluation procedures of regular students, i.e., they must deliver their assignments as specified during the course plus any special works also specified, the only difference towards regular students being that they are not required to attend classes and deliver assignments in the same dates as regular students, in the cases the law specifically states it.