Publication in the Diário da República: Despacho n.º 14908/2014
6 ECTS; 1º Ano, 2º Semestre, 15,0 T + 15,0 PL + 15,0 TP + 3,0 OT
Lecturer
- Pedro Manuel Granchinho de Matos
Prerequisites
Not applicable
Objectives
Provide the student with the fundamental principles of robotics, namely:
- The main sensors and actuators used in robotics;
- The constructive characteristics of robotic manipulators;
- The necessary calculations for the control of manipulators.
Program
1. INTRODUCTION TO ROBOTICS
2. INDUSTRIAL APPLICATIONS OF ROBOTS
2.1. Transport of materials
2.2. Process Operations
2.3. Assembly operations
2.4. Inspection and testing operations
3. STRUCTURE AND TYPES OF MANIPULATORS
3.1. Sensors and actuators
3.2. Type arms and gripper
3.3. Controllers
3.4. Type joints
3.5. Workspace
3.6. Types of handlers
3.7. Resolution, repeatability and precison
4. COORDINATE SYSTEM
4.1. System axes
4.2. Vectors and matrices
4.3. Geometric transformations
4.4. Coordinates homogeneous
4.5. Transformation matrices to 3 dimensions
5. KINEMATICS OF MANIPULATORS
5.1. Algorithm direct kinematics
5.2. Parameters of links and joints
5.3. Assigning coordinate systems
5.4. Orientation angles based on the joint variables
6. INVERSE KINEMATICS
6.1. Algorithm inverse kinematics
6.2. Resolution exercises
Evaluation Methodology
The evaluation of the subject will be done through a Final Project that is worth 100% of the grade.
Bibliography
- Santos, V. (2004). Robótica Industrial. (Vol. 1). (pp. 1-166). Aveiro: Universidade Aveiro
- Rosário, J. (2010). ROBÓTICA INDUSTRIAL I : MODELAGEM, UTILIZAÇÃO E PROGRAMAÇÃO. São Paulo - Brasil: Baraúna
- Craig, J. (2014). Introduction to Robotics: Mechanics and Control. EUA: Pearson
- Pires, N. (2007). INDUSTRIAL ROBOTS PROGRAMMING. EUA: Springer
Teaching Method
The learning methodologies are based on the lecture method of the syllabus and in a practical work
(programming manipulators robot). The practical work is intended to allow an approach to the industrial
environment.
Software used in class
Not applicable
