Industrial Robotics

Recommended Prerequisites

Calculus, Matrix Algebra, Laplace and Z Transforms.

Electronics, Instrumentation, Programming, Industrial Actuators (pneumatic, hydraulic and electric).

Teaching Methods

Regular classes with detailed exposure, using audiovisual media, on the planned subjects, and industrial setups existing in the laboratories prepared for this course.

Students carry out a practical assignment (in groups of 2-elements), which includes practical realization and research of a certain topic, which has then to be demonstrated and publicly presented

Learning Outcomes

This course aims to enable students to formulate correctly the concepts involved in the adoption of manipulation robotics in an Industry 4.0 platform, to systematize concepts, to dialogue with specialists specifying interventions, to plan and manage robotization processes, intervene at the technical level and are able to identify error situations and mobilize the teams needed to remedy them. This course complements and updates previously obtained training, namely in programming, automatic control, robotics, distributed production systems, human machine interfaces, CAD systems, industrial production control systems, sensors and actuators, providing detailed technical and scientific training that allows students to work in the design and programming phase. Discipline implies the realization of a project, which in practice means the realization of a robotic solution to solve a particular industrial problem.

Work Placement(s)

No

Syllabus

Position and Orientation, Direct and Inverse Kinematics, Velocities and Static Forces, Singularities, Dynamics, Matlab Modeling of the kinematics and dynamics of one of the robots of the practical classes.

Trajectories, Digital Control (PID Synthesis, Tuning and Analysis), Structures, Sensors

Collaborative Robotics: principles and programming.

Programming: Languages, Offline & Online Programming, Remote Access: Monitoring & Supervising, Software Architecture Presentation

Remote Programming: Python (or C #).

Communication and protocols: security. Tele-manipulation.

CAD systems interface: programming of industrial robots from CAD.

Using ROS in an example of mobile manipulation: pick order.

Fundamentals of Bionics: Human Machine Interface Systems, Using Robotic Mechanisms to Extend Human Capabilities, Three-Handed Kinematic / Dynamic Modeling, Integration with Other Elements of the Biomedical Cell, Biomedical Systems.

Integration

Head Lecturer(s)

Pedro Mariano Simões Neto

Assessment Methods

Assessment
Research work: 25.0%
Frequency: 25.0%
Project: 50.0%

Bibliography

- Robótica Industrial - Indústria 4.0, J. Norberto Pires, Lidel, 2018

- Introduction to Robotics, J.J. Craig, Prentice Hall, 1986.

- Modelling and Control of Robotic Manipulators, L. Sciavicco e B. Siciliano, Mcgraw Hill, 1994.

- Computational Intelligence in Design and Manufacturing, A. Kusiak, John Wiley & Sons, 2000.

- Automação e Controlo Industrial - Indústria 4.0, J. Norberto Pires, Lidel, 2019

- Industrial Robot Programming, JN Pires, Springer, 2006

- Welding Robots, JN Pires et all, Springer, 2006

- Handbook of Robotics, Siciliano et al editors, Springer, 2016