Robotics

Year
2
Academic year
2017-2018
Code
02000537
Subject Area
Optional
Language of Instruction
Portuguese
Other Languages of Instruction
English
Mode of Delivery
Face-to-face
Duration
SEMESTRIAL
ECTS Credits
6.0
Type
Elective
Level
2nd Cycle Studies - Mestrado

Recommended Prerequisites

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

Teaching Methods

Theoretical classes using audio-visual means: detailed exposition of concepts, principles and methodologies fundamental to Robotic Manipulation, complemented by Laboratory classes to practice the concepts taught y performing simulation studies in Matlab and with the Eshed manipulator. In parallel a set of homework problems are handed to students that intended to reflect the nature of the various mid-term tests of the course. The evaluation process adopted intended to stimulate lifelong learning of the student, considering two components of assessment: theoretical/practical and laboratory.

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.

Objectives:

Provide students with the fundamental concepts of robotics, particularly in

1. Obtaining geometric models, kinematic and dynamic 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)

No

Syllabus

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)

Jorge Manuel Moreira de Campos Pereira Batista

Assessment Methods

Assessment
Test 50% or problem resolving fieldwork 15% + fieldwork or laboratory work 35%: 50.0%
Exam 50% or problem resolving fieldwork 15% + fieldwork or laboratory work 35%: 50.0%

Bibliography

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

(Livro Recomendado para estudo durante grande parte do curso)

Bibliografia Alternativa:

• P. McKerrow (1993), Introduction to Robotics, Addison-Wesley, 1993.

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

• R.J. Schilling (1990), Fundamentals of Robotics: Analysis & Control, Prentice Hall, 1990.

• K. Fu, R. Gonzalez, C.Lee (1987), Robotics: Control, Sensing,Vision & Intelligence, McGraw-Hill, 1987.

Batista, J. (2006-2012) – Diapositivos das aulas teóricas de Robótica, DEEC-FCTUC.