Academic year
Subject Area
Robotics, Control and Systems
Language of Instruction
Other Languages of Instruction
Mode of Delivery
ECTS Credits
2nd Cycle Studies - Mestrado

Recommended Prerequisites

Linear algebra and analytic geometry, Matrix Calculus, Differential Calculus, Theory of Systems and Control, Sensors and Actuators.

Teaching Methods

Theoretical classes, using audio-visual means, where a detailed exposition of the concepts, principles and methodologies fundamental to Robotic Manipulation is presented, complemented by Laboratory classes where students exercise the concepts taught in the theoretical component by performing simulation studies in Matlab and using schoolar manipulador robot. In parallel a set of homework problems is handed to students that intended to reflect the nature of the various mid-term tests of the course.

Learning Outcomes

This course introduces the science and engineering of mechanical manipulation, a sub-discipline of Robotics that has its foundation in several classical fields.


Provide students with the fundamental concepts of robotics, particularly in

1. Obtaining geometric, kinematic and dynamic models of robot manipulators.

2. Trajectory generation and task planning.

Skills to develop:

It is intended that students acquire skills in analysis and synthesis, formulation and problem solving, critical thinking, independent learning and ability to apply theoretical concepts of nature to practical problems.

Ultimately, we intend to provide (in-depth) knowledge in Robotics and acquiring competencies to all of

1. "Those who wish to operate and / or develop applications that use robots or robotic systems";

2. "Those who wish to develop / design robotic systems" 

Work Placement(s)



1. Introduction

2. Spacial descriptions and Transformations

3. Manipulator Kinematics

4. Inverse Manipulator Kinematics

5. Jacobians : velocities and static Forces

6. Manipulator Dynamics

7. Trajectory Generation : Joint space and cartesian space.

Head Lecturer(s)

Nuno Miguel Mendonça da Silva Gonçalves

Assessment Methods

Avaliação continua
Resolution Problems: 10.0%
Laboratory work or Field work: 30.0%
Frequency: 60.0%

Avaliação final
Resolution Problems: 10.0%
Laboratory work or Field work: 30.0%
Exam: 60.0%


Livros recomendados para estudo durante grande parte do curso:

John J. Craig, Introduction to Robotics : Mechanics and Control, Third Edition, Prentice Hall, 2005.

M. Spong, S. Hutchinson, M.Vidyasagar, Robotics Modeling and Control, John Wiley&Sons, 2005.

Bibliografia alternativa:

B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo, Robotics: Modelling, Planning and Control, Springer, 2009.

P. McKerrow, Introduction to Robotics, Addison-Wesley, 1993.

J. Batista, Diapositivos das aulas teóricas de Robótica, DEEC-FCTUC, 2012-2019.